Cascaded indoor air quality and outdoor air flow economizer system

ABSTRACT

A controller for an economizer that provides outdoor air to a conditioned space. The controller includes an error calculator configured determine an indoor air quality (IAQ) setpoint error based on an actual IAQ and an IAQ setpoint, an outdoor air flow (OAF) setpoint adjuster configured to determine an adjusted OAF setpoint based on at least one of the IAQ setpoint error, an initial OAF setpoint, and an OAF setpoint upper limit, and a proportional variable deadband controller (PVDC) configured to adjust an operational deadband of the economizer and adjust an operation of at least one of an actuator and a damper of the economizer to achieve the adjusted OAF based on at least one of an actual OAF and the adjusted OAF setpoint. Achieving the adjusted OAF drives the actual IAQ to the IAQ setpoint.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application is a Continuation of U.S. application Ser. No.16/246,263, filed Jan. 11, 2019, incorporated herein by reference in itsentirety.

BACKGROUND

The present disclosure relates generally to HVAC systems for a buildingand more particularly to airside economizers in a building HVAC system.Economizers are a type of air handling unit (AHU) in a building HVACsystem that provide ventilation to a building space. Economizers arecapable of both recirculating air from the building space andintroducing outside air into the building space by varying an amount ofoutside air permitted to pass through the economizer.

SUMMARY

One implementation of the present disclosure is a controller for aneconomizer that provides outdoor air to a conditioned space, accordingto some embodiments. In some embodiments, the controller includes anerror calculator configured determine an indoor air quality (IAQ)setpoint error based on an actual IAQ and an IAQ setpoint, an outdoorair flow (OAF) setpoint adjuster configured to determine an adjusted OAFsetpoint based on at least one of the IAQ setpoint error, an initial OAFsetpoint, and an OAF setpoint upper limit, and a proportional variabledeadband controller (PVDC) configured to adjust an operational deadbandof the economizer and adjust an operation of at least one of an actuatorand a damper of the economizer to achieve the adjusted OAF based on atleast one of an actual OAF and the adjusted OAF setpoint. In someembodiments, achieving the adjusted OAF drives the actual IAQ to the IAQsetpoint.

In some embodiments, the controller is further configured to receiveinformation from one or more sensors. In some embodiments, the one ormore sensors are configured to measure at least one of the actual IAQand the actual OAF of the conditioned space and the received informationis a signal associated with at least one of the actual IAQ and theactual OAF. In some embodiments, the error calculator is configured todetermine the IAQ setpoint error by calculating a difference between theIAQ setpoint and the actual IAQ.

In some embodiments, the OAF setpoint adjuster is configured todetermine the adjusted OAF setpoint based on a linear relationshipbetween the IAQ setpoint error and an amount to increase or decrease theinitial OAF setpoint to achieve the adjusted OAF setpoint.

In some embodiments, the OAF setpoint adjuster is configured todetermine an adjusted OAF setpoint greater than the initial OAF setpointin response to the IAQ error being a positive value greater than apositive threshold value. In some embodiments, the IAQ error being apositive value indicates the actual IAQ is less than the IAQ setpoint.

In some embodiments, the positive threshold value is zero.

In some embodiments, the controller is further configured to update theinitial OAF setpoint with the adjusted OAF setpoint in response to theactual OAF being driven to the adjusted OAF setpoint.

In some embodiments, the at least one sensor is at least one of an airquality sensor and a flow rate sensor. In some embodiments, the airquality sensor is configured to measure the actual IAQ of theconditioned space. In some embodiments, the flow rate sensor isconfigured to measure the actual OAF of outdoor air provided to theconditioned space.

Another implementation of the present disclosure is a control system foran economizer. In some embodiments, the control system includes aneconomizer configured to facilitate an outdoor air flow (OAF) of outdoorair into a conditioned space, a flow rate sensor configured to measurean actual OAF of the outdoor air entering the conditioned space, an airquality sensor configured to measure an actual indoor air quality (IAQ)of the conditioned space, and a controller. In some embodiments, thecontroller is configured to receive the actual IAQ of the conditionedspace and determine an IAQ setpoint error based on the actual IAQ and anIAQ setpoint, determine an adjusted OAF setpoint by determining anincrease amount based on the IAQ setpoint error, perform proportionalvariable deadband control based on at least one of the adjusted OAFsetpoint and the actual OAF to adjust a deadband of the economizer andgenerate control signals to cause the economizer to facilitate the OAFat the adjusted OAF setpoint, and adjust an operation of at least one ofan actuator and a damper of the economizer to cause outdoor air to enterthe conditioned space at the adjusted OAF setpoint.

In some embodiments, the controller is configured to determine theadjusted OAF setpoint by adding the increase amount to an initial OAFsetpoint.

In some embodiments, the controller is configured to determine theadjusted OAF setpoint based on a linear relationship between OAF and theIAQ setpoint error.

In some embodiments, the controller is configured to determine that theadjusted OAF setpoint is greater than the initial OAF setpoint inresponse to the actual IAQ being less than the IAQ setpoint.

In some embodiments, the linear relationship is a piece wise function.

In some embodiments, the determined IAQ setpoint error is a differencebetween the IAQ setpoint and the actual IAQ.

In some embodiments, the adjusted OAF setpoint ensures that the IAQsetpoint is met or exceeded.

In some embodiments, the controller is configured to determine a signalto noise ratio of a signal associated with the actual OAF and adjust thedeadband of the economizer based on the determined signal to noiseratio.

Another implementation of the present disclosure is a method forcontrolling an economizer. In some embodiments, the method includesreceiving, from a first sensor, an actual indoor air quality (IAQ) of aconditioned space, determining an IAQ setpoint error based on the actualIAQ and an IAQ setpoint, determining an adjusted outdoor air flow (OAF)setpoint based on the IAQ setpoint error and an initial OAF setpoint,receiving, from a second sensor, an actual outdoor air flow (OAF) ofoutdoor air entering the conditioned space, adjusting a deadband of theeconomizer and generating control signals for the economizer to achievethe adjusted OAF setpoint based on the actual OAF, controlling theeconomizer to drive the actual OAF to the adjusted OAF setpoint, andrepeating the steps of receiving the actual OAF from the second sensor,adjusting the deadband and generating control signals, and controllingthe economizer until the actual OAF meets the OAF setpoint.

In some embodiments, determining the adjusted OAF setpoint furtherincludes determining a required increase or decrease of the initial OAFsetpoint based on a linear relationship between the IAQ setpoint errorand a required change of the initial OAF setpoint.

In some embodiments, determining the adjusted OAF setpoint furtherincludes increasing the initial OAF setpoint in response to the IAQsetpoint being greater than the actual IAQ and decreasing the initialOAF setpoint in response to the IAQ setpoint being less than the actualIAQ.

In some embodiments, the method further includes defining the adjustedOAF setpoint as the initial OAF setpoint in response to the IAQ setpointerror being negligible.

In some embodiments, the method further includes determining a signal tonoise ratio of a signal associated with the actual OAF and adjusting thedeadband based on the signal to noise ratio.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a drawing of a building equipped with a HVAC system, accordingto some embodiments.

FIG. 2 is a schematic diagram of a waterside system which can be used inconjunction with the building of FIG. 1, according to some embodiments.

FIG. 3 is a schematic diagram of an airside system which can be used inconjunction with the building of FIG. 1, according to some embodiments.

FIG. 4 is a block diagram of a building management system (BMS) whichcan be used to monitor and control the building of FIG. 1, according tosome embodiments.

FIG. 5 is a block diagram of another BMS which can be used to monitorand control the building of FIG. 1, according to some embodiments.

FIG. 6 is a block diagram of a cascaded economizer system, according tosome embodiments.

FIG. 7 is an illustrative graph of a deadband and a control variable,according to some embodiments.

FIG. 8 is a block diagram of a controller which can be used to perform acascaded control algorithm for an economizer, according to someembodiments.

FIG. 9 is a graph of a relationship between an outdoor airflow setpointand an indoor air quality setpoint error, according to some embodiments.

FIG. 10 is a graph illustrating the function of a proportional variabledeadband controller (PVDC) which may be implemented in the presentdisclosure, according to some embodiments.

FIG. 11 is a flow chart of a process of a cascaded control algorithm foran economizer, according to some embodiments.

FIG. 12 is a flow chart of a process of a cascaded control algorithm foran economizer, according to some embodiments.

DETAILED DESCRIPTION Overview

Referring generally to the FIGURES, a cascaded control system for aneconomizer is shown, according to some embodiments. The cascaded controlsystem may include an economizer, a conditioned space, a controllerconfigured to control the economizer, a flow rate sensor, and an indoorair quality sensor. The economizer is configured to bring outdoor airinto a conditioned space to cool the conditioned space and/or improvethe indoor air quality of the conditioned space. The economizer mayinclude dampers and actuators which may be adjusted by the controllerand are configured to control the outdoor air flow (e.g., velocity,volumetric flow rate, mass flow rate, etc.) supplied to the conditionedspace. The flow rate sensor may be configured to measure a flow rate ofthe outdoor air being supplied to the conditioned space by theeconomizer. The indoor air quality sensor may be configured to measurean indoor air quality of the conditioned space. Both the flow rate ofthe outdoor supply air as measured by the flow rate sensor and the airquality of the conditioned space as measured by the indoor air qualitysensor may be provided to the controller. The controller may receive theindoor air quality from the indoor air quality sensor and determine anerror between the indoor air quality from the indoor air quality sensorand a setpoint indoor air quality. The controller may then determine anadjusted outdoor air flow setpoint value based on the indoor air qualitysetpoint error. The adjusted outdoor air flow setpoint may be determinedbased on a linear relationship between the adjusted outdoor air flowsetpoint and the indoor air quality setpoint error. The controller maythen perform proportional variable deadband control using the adjustedoutdoor air flow setpoint and the outdoor air flow supplied by the flowrate sensor to generate control signals to adjust controllable elementsof the economizer. If the controller determines that the outdoor airflow setpoint is to be increased to an adjusted air flow setpoint valuewhich the economizer is not allowed to or cannot achieve, the controllermay set the adjusted outdoor air flow setpoint to a maximum allowableoutdoor air flow setpoint and uses the maximum allowable outdoor airflow for the proportional variable deadband control to generate controlsignals for controllable elements of the economizer.

Advantageously, the cascaded control system may combine an indoor airquality loop (e.g., an indoor air quality algorithm) with an outdoor airflow loop (e.g., an indoor air flow algorithm), allowing both the indoorair quality setpoint and the outdoor air flow to be met. Some controlsystems for economizers only use one of these loops at a time (e.g.,only the indoor air quality loop or the outdoor air flow loop) and placea priority or feature enable to select which loop to use.Advantageously, the cascaded control system described herein may combineboth of these algorithms into a single algorithm, reducing the need tomanage or prioritize two algorithms.

Building HVAC Systems and Building Management Systems

Referring now to FIGS. 1-5, several building management systems (BMS)and HVAC systems in which the systems and methods of the presentdisclosure can be implemented are shown, according to some embodiments.In brief overview, FIG. 1 shows a building 10 equipped with a HVACsystem 100. FIG. 2 is a block diagram of a waterside system 200 whichcan be used to serve building 10. FIG. 3 is a block diagram of anairside system 300 which can be used to serve building 10. FIG. 4 is ablock diagram of a BMS which can be used to monitor and control building10. FIG. 5 is a block diagram of another BMS which can be used tomonitor and control building 10.

Building and HVAC System

Referring particularly to FIG. 1, a perspective view of a building 10 isshown. Building 10 is served by a BMS. A BMS is, in general, a system ofdevices configured to control, monitor, and manage equipment in oraround a building or building area. A BMS can include, for example, aHVAC system, a security system, a lighting system, a fire alertingsystem, any other system that is capable of managing building functionsor devices, or any combination thereof.

The BMS that serves building 10 includes a HVAC system 100. HVAC system100 can include a plurality of HVAC devices (e.g., heaters, chillers,air handling units, pumps, fans, thermal energy storage, etc.)configured to provide heating, cooling, ventilation, or other servicesfor building 10. For example, HVAC system 100 is shown to include awaterside system 120 and an airside system 130. Waterside system 120 mayprovide a heated or chilled fluid to an air handling unit of airsidesystem 130. Airside system 130 may use the heated or chilled fluid toheat or cool an airflow provided to building 10. An exemplary watersidesystem and airside system which can be used in HVAC system 100 aredescribed in greater detail with reference to FIGS. 2-3.

HVAC system 100 is shown to include a chiller 102, a boiler 104, and arooftop air handling unit (AHU) 106. Waterside system 120 may use boiler104 and chiller 102 to heat or cool a working fluid (e.g., water,glycol, etc.) and may circulate the working fluid to AHU 106. In variousembodiments, the HVAC devices of waterside system 120 can be located inor around building 10 (as shown in FIG. 1) or at an offsite locationsuch as a central plant (e.g., a chiller plant, a steam plant, a heatplant, etc.). The working fluid can be heated in boiler 104 or cooled inchiller 102, depending on whether heating or cooling is required inbuilding 10. Boiler 104 may add heat to the circulated fluid, forexample, by burning a combustible material (e.g., natural gas) or usingan electric heating element. Chiller 102 may place the circulated fluidin a heat exchange relationship with another fluid (e.g., a refrigerant)in a heat exchanger (e.g., an evaporator) to absorb heat from thecirculated fluid. The working fluid from chiller 102 and/or boiler 104can be transported to AHU 106 via piping 108.

AHU 106 may place the working fluid in a heat exchange relationship withan airflow passing through AHU 106 (e.g., via one or more stages ofcooling coils and/or heating coils). The airflow can be, for example,outside air, return air from within building 10, or a combination ofboth. AHU 106 may transfer heat between the airflow and the workingfluid to provide heating or cooling for the airflow. For example, AHU106 can include one or more fans or blowers configured to pass theairflow over or through a heat exchanger containing the working fluid.The working fluid may then return to chiller 102 or boiler 104 viapiping 110.

Airside system 130 may deliver the airflow supplied by AHU 106 (i.e.,the supply airflow) to building 10 via air supply ducts 112 and mayprovide return air from building 10 to AHU 106 via air return ducts 114.In some embodiments, airside system 130 includes multiple variable airvolume (VAV) units 116. For example, airside system 130 is shown toinclude a separate VAV unit 116 on each floor or zone of building 10.VAV units 116 can include dampers or other flow control elements thatcan be operated to control an amount of the supply airflow provided toindividual zones of building 10. In other embodiments, airside system130 delivers the supply airflow into one or more zones of building 10(e.g., via supply ducts 112) without using intermediate VAV units 116 orother flow control elements. AHU 106 can include various sensors (e.g.,temperature sensors, pressure sensors, etc.) configured to measureattributes of the supply airflow. AHU 106 may receive input from sensorslocated within AHU 106 and/or within the building zone and may adjustthe flow rate, temperature, or other attributes of the supply airflowthrough AHU 106 to achieve setpoint conditions for the building zone.

Waterside System

Referring now to FIG. 2, a block diagram of a waterside system 200 isshown, according to some embodiments. In various embodiments, watersidesystem 200 may supplement or replace waterside system 120 in HVAC system100 or can be implemented separate from HVAC system 100. Whenimplemented in HVAC system 100, waterside system 200 can include asubset of the HVAC devices in HVAC system 100 (e.g., boiler 104, chiller102, pumps, valves, etc.) and may operate to supply a heated or chilledfluid to AHU 106. The HVAC devices of waterside system 200 can belocated within building 10 (e.g., as components of waterside system 120)or at an offsite location such as a central plant.

In FIG. 2, waterside system 200 is shown as a central plant having aplurality of subplants 202-212. Subplants 202-212 are shown to include aheater subplant 202, a heat recovery chiller subplant 204, a chillersubplant 206, a cooling tower subplant 208, a hot thermal energy storage(TES) subplant 210, and a cold thermal energy storage (TES) subplant212. Subplants 202-212 consume resources (e.g., water, natural gas,electricity, etc.) from utilities to serve thermal energy loads (e.g.,hot water, cold water, heating, cooling, etc.) of a building or campus.For example, heater subplant 202 can be configured to heat water in ahot water loop 214 that circulates the hot water between heater subplant202 and building 10. Chiller subplant 206 can be configured to chillwater in a cold water loop 216 that circulates the cold water betweenchiller subplant 206 building 10. Heat recovery chiller subplant 204 canbe configured to transfer heat from cold water loop 216 to hot waterloop 214 to provide additional heating for the hot water and additionalcooling for the cold water. Condenser water loop 218 may absorb heatfrom the cold water in chiller subplant 206 and reject the absorbed heatin cooling tower subplant 208 or transfer the absorbed heat to hot waterloop 214. Hot TES subplant 210 and cold TES subplant 212 may store hotand cold thermal energy, respectively, for subsequent use.

Hot water loop 214 and cold water loop 216 may deliver the heated and/orchilled water to air handlers located on the rooftop of building 10(e.g., AHU 106) or to individual floors or zones of building 10 (e.g.,VAV units 116). The air handlers push air past heat exchangers (e.g.,heating coils or cooling coils) through which the water flows to provideheating or cooling for the air. The heated or cooled air can bedelivered to individual zones of building 10 to serve thermal energyloads of building 10. The water then returns to subplants 202-212 toreceive further heating or cooling.

Although subplants 202-212 are shown and described as heating andcooling water for circulation to a building, it is understood that anyother type of working fluid (e.g., glycol, CO2, etc.) can be used inplace of or in addition to water to serve thermal energy loads. In otherembodiments, subplants 202-212 may provide heating and/or coolingdirectly to the building or campus without requiring an intermediateheat transfer fluid. These and other variations to waterside system 200are within the teachings of the present disclosure.

Each of subplants 202-212 can include a variety of equipment configuredto facilitate the functions of the subplant. For example, heatersubplant 202 is shown to include a plurality of heating elements 220(e.g., boilers, electric heaters, etc.) configured to add heat to thehot water in hot water loop 214. Heater subplant 202 is also shown toinclude several pumps 222 and 224 configured to circulate the hot waterin hot water loop 214 and to control the flow rate of the hot waterthrough individual heating elements 220. Chiller subplant 206 is shownto include a plurality of chillers 232 configured to remove heat fromthe cold water in cold water loop 216. Chiller subplant 206 is alsoshown to include several pumps 234 and 236 configured to circulate thecold water in cold water loop 216 and to control the flow rate of thecold water through individual chillers 232.

Heat recovery chiller subplant 204 is shown to include a plurality ofheat recovery heat exchangers 226 (e.g., refrigeration circuits)configured to transfer heat from cold water loop 216 to hot water loop214. Heat recovery chiller subplant 204 is also shown to include severalpumps 228 and 230 configured to circulate the hot water and/or coldwater through heat recovery heat exchangers 226 and to control the flowrate of the water through individual heat recovery heat exchangers 226.Cooling tower subplant 208 is shown to include a plurality of coolingtowers 238 configured to remove heat from the condenser water incondenser water loop 218. Cooling tower subplant 208 is also shown toinclude several pumps 240 configured to circulate the condenser water incondenser water loop 218 and to control the flow rate of the condenserwater through individual cooling towers 238.

Hot TES subplant 210 is shown to include a hot TES tank 242 configuredto store the hot water for later use. Hot TES subplant 210 may alsoinclude one or more pumps or valves configured to control the flow rateof the hot water into or out of hot TES tank 242. Cold TES subplant 212is shown to include cold TES tanks 244 configured to store the coldwater for later use. Cold TES subplant 212 may also include one or morepumps or valves configured to control the flow rate of the cold waterinto or out of cold TES tanks 244.

In some embodiments, one or more of the pumps in waterside system 200(e.g., pumps 222, 224, 228, 230, 234, 236, and/or 240) or pipelines inwaterside system 200 include an isolation valve associated therewith.Isolation valves can be integrated with the pumps or positioned upstreamor downstream of the pumps to control the fluid flows in watersidesystem 200. In various embodiments, waterside system 200 can includemore, fewer, or different types of devices and/or subplants based on theparticular configuration of waterside system 200 and the types of loadsserved by waterside system 200.

Airside System

Referring now to FIG. 3, a block diagram of an airside system 300 isshown, according to some embodiments. In various embodiments, airsidesystem 300 may supplement or replace airside system 130 in HVAC system100 or can be implemented separate from HVAC system 100. Whenimplemented in HVAC system 100, airside system 300 can include a subsetof the HVAC devices in HVAC system 100 (e.g., AHU 106, VAV units 116,ducts 112-114, fans, dampers, etc.) and can be located in or aroundbuilding 10. Airside system 300 may operate to heat or cool an airflowprovided to building 10 using a heated or chilled fluid provided bywaterside system 200.

In FIG. 3, airside system 300 is shown to include an economizer-type airhandling unit (AHU) 302. Economizer-type AHUs vary the amount of outsideair and return air used by the air handling unit for heating or cooling.For example, AHU 302 may receive return air 304 from building zone 306via return air duct 308 and may deliver supply air 310 to building zone306 via supply air duct 312. In some embodiments, AHU 302 is a rooftopunit located on the roof of building 10 (e.g., AHU 106 as shown inFIG. 1) or otherwise positioned to receive both return air 304 andoutside air 314. AHU 302 can be configured to operate exhaust air damper316, mixing damper 318, and outside air damper 320 to control an amountof outside air 314 and return air 304 that combine to form supply air310. Any return air 304 that does not pass through mixing damper 318 canbe exhausted from AHU 302 through exhaust damper 316 as exhaust air 322.

Each of dampers 316-320 can be operated by an actuator. For example,exhaust air damper 316 can be operated by actuator 324, mixing damper318 can be operated by actuator 326, and outside air damper 320 can beoperated by actuator 328. Actuators 324-328 may communicate with an AHUcontroller 330 via a communications link 332. Actuators 324-328 mayreceive control signals from AHU controller 330 and may provide feedbacksignals to AHU controller 330. Feedback signals can include, forexample, an indication of a current actuator or damper position, anamount of torque or force exerted by the actuator, diagnosticinformation (e.g., results of diagnostic tests performed by actuators324-328), status information, commissioning information, configurationsettings, calibration data, and/or other types of information or datathat can be collected, stored, or used by actuators 324-328. AHUcontroller 330 can be an economizer controller configured to use one ormore control algorithms (e.g., state-based algorithms, extremum seekingcontrol (ESC) algorithms, proportional-integral (PI) control algorithms,proportional-integral-derivative (PID) control algorithms, modelpredictive control (MPC) algorithms, feedback control algorithms, etc.)to control actuators 324-328.

Still referring to FIG. 3, AHU 302 is shown to include a cooling coil334, a heating coil 336, and a fan 338 positioned within supply air duct312. Fan 338 can be configured to force supply air 310 through coolingcoil 334 and/or heating coil 336 and provide supply air 310 to buildingzone 306. AHU controller 330 may communicate with fan 338 viacommunications link 340 to control a flow rate of supply air 310. Insome embodiments, AHU controller 330 controls an amount of heating orcooling applied to supply air 310 by modulating a speed of fan 338.

Cooling coil 334 may receive a chilled fluid from waterside system 200(e.g., from cold water loop 216) via piping 342 and may return thechilled fluid to waterside system 200 via piping 344. Valve 346 can bepositioned along piping 342 or piping 344 to control a flow rate of thechilled fluid through cooling coil 334. In some embodiments, coolingcoil 334 includes multiple stages of cooling coils that can beindependently activated and deactivated (e.g., by AHU controller 330, byBMS controller 366, etc.) to modulate an amount of cooling applied tosupply air 310.

Heating coil 336 may receive a heated fluid from waterside system200(e.g., from hot water loop 214) via piping 348 and may return theheated fluid to waterside system 200 via piping 350. Valve 352 can bepositioned along piping 348 or piping 350 to control a flow rate of theheated fluid through heating coil 336. In some embodiments, heating coil336 includes multiple stages of heating coils that can be independentlyactivated and deactivated (e.g., by AHU controller 330, by BMScontroller 366, etc.) to modulate an amount of heating applied to supplyair 310.

Each of valves 346 and 352 can be controlled by an actuator. Forexample, valve 346 can be controlled by actuator 354 and valve 352 canbe controlled by actuator 356. Actuators 354-356 may communicate withAHU controller 330 via communications links 358-360. Actuators 354-356may receive control signals from AHU controller 330 and may providefeedback signals to controller 330. In some embodiments, AHU controller330 receives a measurement of the supply air temperature from atemperature sensor 362 positioned in supply air duct 312 (e.g.,downstream of cooling coil 334 and/or heating coil 336). AHU controller330 may also receive a measurement of the temperature of building zone306 from a temperature sensor 364 located in building zone 306.

In some embodiments, AHU controller 330 operates valves 346 and 352 viaactuators 354-356 to modulate an amount of heating or cooling providedto supply air 310 (e.g., to achieve a setpoint temperature for supplyair 310 or to maintain the temperature of supply air 310 within asetpoint temperature range). The positions of valves 346 and 352 affectthe amount of heating or cooling provided to supply air 310 by coolingcoil 334 or heating coil 336 and may correlate with the amount of energyconsumed to achieve a desired supply air temperature. AHU 330 maycontrol the temperature of supply air 310 and/or building zone 306 byactivating or deactivating coils 334-336, adjusting a speed of fan 338,or a combination of both.

Still referring to FIG. 3, airside system 300 is shown to include abuilding management system (BMS) controller 366 and a client device 368.BMS controller 366 can include one or more computer systems (e.g.,servers, supervisory controllers, subsystem controllers, etc.) thatserve as system level controllers, application or data servers, headnodes, or master controllers for airside system 300, waterside system200, HVAC system 100, and/or other controllable systems that servebuilding 10. BMS controller 366 may communicate with multiple downstreambuilding systems or subsystems (e.g., HVAC system 100, a securitysystem, a lighting system, waterside system 200, etc.) via acommunications link 370 according to like or disparate protocols (e.g.,LON, BACnet, etc.). In various embodiments, AHU controller 330 and BMScontroller 366 can be separate (as shown in FIG. 3) or integrated. In anintegrated implementation, AHU controller 330 can be a software moduleconfigured for execution by a processor of BMS controller 366.

In some embodiments, AHU controller 330 receives information from BMScontroller 366 (e.g., commands, setpoints, operating boundaries, etc.)and provides information to BMS controller 366 (e.g., temperaturemeasurements, valve or actuator positions, operating statuses,diagnostics, etc.). For example, AHU controller 330 may provide BMScontroller 366 with temperature measurements from temperature sensors362-364, equipment on/off states, equipment operating capacities, and/orany other information that can be used by BMS controller 366 to monitoror control a variable state or condition within building zone 306.

Client device 368 can include one or more human-machine interfaces orclient interfaces (e.g., graphical user interfaces, reportinginterfaces, text-based computer interfaces, client-facing web services,web servers that provide pages to web clients, etc.) for controlling,viewing, or otherwise interacting with HVAC system 100, its subsystems,and/or devices. Client device 368 can be a computer workstation, aclient terminal, a remote or local interface, or any other type of userinterface device. Client device 368 can be a stationary terminal or amobile device. For example, client device 368 can be a desktop computer,a computer server with a user interface, a laptop computer, a tablet, asmartphone, a PDA, or any other type of mobile or non-mobile device.Client device 368 may communicate with BMS controller 366 and/or AHUcontroller 330 via communications link 372.

Building Management Systems

Referring now to FIG. 4, a block diagram of a building management system(BMS) 400 is shown, according to some embodiments. BMS 400 can beimplemented in building 10 to automatically monitor and control variousbuilding functions. BMS 400 is shown to include BMS controller 366 and aplurality of building subsystems 428. Building subsystems 428 are shownto include a building electrical subsystem 434, an informationcommunication technology (ICT) subsystem 436, a security subsystem 438,a HVAC subsystem 440, a lighting subsystem 442, a lift/escalatorssubsystem 432, and a fire safety subsystem 430. In various embodiments,building subsystems 428 can include fewer, additional, or alternativesubsystems. For example, building subsystems 428 may also oralternatively include a refrigeration subsystem, an advertising orsignage subsystem, a cooking subsystem, a vending subsystem, a printeror copy service subsystem, or any other type of building subsystem thatuses controllable equipment and/or sensors to monitor or controlbuilding 10. In some embodiments, building subsystems 428 includewaterside system 200 and/or airside system 300, as described withreference to FIGS. 2-3.

Each of building subsystems 428 can include any number of devices,controllers, and connections for completing its individual functions andcontrol activities. HVAC subsystem 440 can include many of the samecomponents as HVAC system 100, as described with reference to FIGS. 1-3.For example, HVAC subsystem 440 can include a chiller, a boiler, anynumber of air handling units, economizers, field controllers,supervisory controllers, actuators, temperature sensors, and otherdevices for controlling the temperature, humidity, airflow, or othervariable conditions within building 10. Lighting subsystem 442 caninclude any number of light fixtures, ballasts, lighting sensors,dimmers, or other devices configured to controllably adjust the amountof light provided to a building space. Security subsystem 438 caninclude occupancy sensors, video surveillance cameras, digital videorecorders, video processing servers, intrusion detection devices, accesscontrol devices and servers, or other security-related devices.

Still referring to FIG. 4, BMS controller 366 is shown to include acommunications interface 407 and a BMS interface 409. Interface 407 mayfacilitate communications between BMS controller 366 and externalapplications (e.g., monitoring and reporting applications 422,enterprise control applications 426, remote systems and applications444, applications residing on client devices 448, etc.) for allowinguser control, monitoring, and adjustment to BMS controller 366 and/orsubsystems 428. Interface 407 may also facilitate communications betweenBMS controller 366 and client devices 448. BMS interface 409 mayfacilitate communications between BMS controller 366 and buildingsubsystems 428 (e.g., HVAC, lighting security, lifts, powerdistribution, business, etc.).

Interfaces 407, 409 can be or include wired or wireless communicationsinterfaces (e.g., jacks, antennas, transmitters, receivers,transceivers, wire terminals, etc.) for conducting data communicationswith building subsystems 428 or other external systems or devices. Invarious embodiments, communications via interfaces 407, 409 can bedirect (e.g., local wired or wireless communications) or via acommunications network 446 (e.g., a WAN, the Internet, a cellularnetwork, etc.). For example, interfaces 407, 409 can include an Ethernetcard and port for sending and receiving data via an Ethernet-basedcommunications link or network. In another example, interfaces 407, 409can include a Wi-Fi transceiver for communicating via a wirelesscommunications network. In another example, one or both of interfaces407, 409 can include cellular or mobile phone communicationstransceivers. In one embodiment, communications interface 407 is a powerline communications interface and BMS interface 409 is an Ethernetinterface. In other embodiments, both communications interface 407 andBMS interface 409 are Ethernet interfaces or are the same Ethernetinterface.

Still referring to FIG. 4, BMS controller 366 is shown to include aprocessing circuit 404 including a processor 406 and memory 408.Processing circuit 404 can be communicably connected to BMS interface409 and/or communications interface 407 such that processing circuit 404and the various components thereof can send and receive data viainterfaces 407, 409. Processor 406 can be implemented as a generalpurpose processor, an application specific integrated circuit (ASIC),one or more field programmable gate arrays (FPGAs), a group ofprocessing components, or other suitable electronic processingcomponents.

Memory 408 (e.g., memory, memory unit, storage device, etc.) can includeone or more devices (e.g., RAM, ROM, Flash memory, hard disk storage,etc.) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent application. Memory 408 can be or include volatile memory ornon-volatile memory. Memory 408 can include database components, objectcode components, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present application. According to someembodiments, memory 408 is communicably connected to processor 406 viaprocessing circuit 404 and includes computer code for executing (e.g.,by processing circuit 404 and/or processor 406) one or more processesdescribed herein.

In some embodiments, BMS controller 366 is implemented within a singlecomputer (e.g., one server, one housing, etc.). In various otherembodiments BMS controller 366 can be distributed across multipleservers or computers (e.g., that can exist in distributed locations).Further, while FIG. 4 shows applications 422 and 426 as existing outsideof BMS controller 366, in some embodiments, applications 422 and 426 canbe hosted within BMS controller 366 (e.g., within memory 408).

Still referring to FIG. 4, memory 408 is shown to include an enterpriseintegration layer 410, an automated measurement and validation (AM&V)layer 412, a demand response (DR) layer 414, a fault detection anddiagnostics (FDD) layer 416, an integrated control layer 418, and abuilding subsystem integration later 420. Layers 410-420 can beconfigured to receive inputs from building subsystems 428 and other datasources, determine optimal control actions for building subsystems 428based on the inputs, generate control signals based on the optimalcontrol actions, and provide the generated control signals to buildingsubsystems 428. The following paragraphs describe some of the generalfunctions performed by each of layers 410-420 in BMS 400.

Enterprise integration layer 410 can be configured to serve clients orlocal applications with information and services to support a variety ofenterprise-level applications. For example, enterprise controlapplications 426 can be configured to provide subsystem-spanning controlto a graphical user interface (GUI) or to any number of enterprise-levelbusiness applications (e.g., accounting systems, user identificationsystems, etc.). Enterprise control applications 426 may also oralternatively be configured to provide configuration GUIs forconfiguring BMS controller 366. In yet other embodiments, enterprisecontrol applications 426 can work with layers 410-420 to optimizebuilding performance (e.g., efficiency, energy use, comfort, or safety)based on inputs received at interface 407 and/or BMS interface 409.

Building subsystem integration layer 420 can be configured to managecommunications between BMS controller 366 and building subsystems 428.For example, building subsystem integration layer 420 may receive sensordata and input signals from building subsystems 428 and provide outputdata and control signals to building subsystems 428. Building subsystemintegration layer 420 may also be configured to manage communicationsbetween building subsystems 428. Building subsystem integration layer420 translate communications (e.g., sensor data, input signals, outputsignals, etc.) across a plurality of multi-vendor/multi-protocolsystems.

Demand response layer 414 can be configured to optimize resource usage(e.g., electricity use, natural gas use, water use, etc.) and/or themonetary cost of such resource usage in response to satisfy the demandof building 10. The optimization can be based on time-of-use prices,curtailment signals, energy availability, or other data received fromutility providers, distributed energy generation systems 424, fromenergy storage 427 (e.g., hot TES 242, cold TES 244, etc.), or fromother sources. Demand response layer 414 may receive inputs from otherlayers of BMS controller 366 (e.g., building subsystem integration layer420, integrated control layer 418, etc.). The inputs received from otherlayers can include environmental or sensor inputs such as temperature,carbon dioxide levels, relative humidity levels, air quality sensoroutputs, occupancy sensor outputs, room schedules, and the like. Theinputs may also include inputs such as electrical use (e.g., expressedin kWh), thermal load measurements, pricing information, projectedpricing, smoothed pricing, curtailment signals from utilities, and thelike.

According to some embodiments, demand response layer 414 includescontrol logic for responding to the data and signals it receives. Theseresponses can include communicating with the control algorithms inintegrated control layer 418, changing control strategies, changingsetpoints, or activating/deactivating building equipment or subsystemsin a controlled manner. Demand response layer 414 may also includecontrol logic configured to determine when to utilize stored energy. Forexample, demand response layer 414 may determine to begin using energyfrom energy storage 427 just prior to the beginning of a peak use hour.

In some embodiments, demand response layer 414 includes a control moduleconfigured to actively initiate control actions (e.g., automaticallychanging setpoints) which minimize energy costs based on one or moreinputs representative of or based on demand (e.g., price, a curtailmentsignal, a demand level, etc.). In some embodiments, demand responselayer 414 uses equipment models to determine an optimal set of controlactions. The equipment models can include, for example, thermodynamicmodels describing the inputs, outputs, and/or functions performed byvarious sets of building equipment. Equipment models may representcollections of building equipment (e.g., subplants, chiller arrays,etc.) or individual devices (e.g., individual chillers, heaters, pumps,etc.).

Demand response layer 414 may further include or draw upon one or moredemand response policy definitions (e.g., databases, XML, files, etc.).The policy definitions can be edited or adjusted by a user (e.g., via agraphical user interface) so that the control actions initiated inresponse to demand inputs can be tailored for the user's application,desired comfort level, particular building equipment, or based on otherconcerns. For example, the demand response policy definitions canspecify which equipment can be turned on or off in response toparticular demand inputs, how long a system or piece of equipment shouldbe turned off, what setpoints can be changed, what the allowable setpoint adjustment range is, how long to hold a high demand setpointbefore returning to a normally scheduled setpoint, how close to approachcapacity limits, which equipment modes to utilize, the energy transferrates (e.g., the maximum rate, an alarm rate, other rate boundaryinformation, etc.) into and out of energy storage devices (e.g., thermalstorage tanks, battery banks, etc.), and when to dispatch on-sitegeneration of energy (e.g., via fuel cells, a motor generator set,etc.).

Integrated control layer 418 can be configured to use the data input oroutput of building subsystem integration layer 420 and/or demandresponse later 414 to make control decisions. Due to the subsystemintegration provided by building subsystem integration layer 420,integrated control layer 418 can integrate control activities of thesubsystems 428 such that the subsystems 428 behave as a singleintegrated supersystem. In some embodiments, integrated control layer418 includes control logic that uses inputs and outputs from a pluralityof building subsystems to provide greater comfort and energy savingsrelative to the comfort and energy savings that separate subsystemscould provide alone. For example, integrated control layer 418 can beconfigured to use an input from a first subsystem to make anenergy-saving control decision for a second subsystem. Results of thesedecisions can be communicated back to building subsystem integrationlayer 420.

Integrated control layer 418 is shown to be logically below demandresponse layer 414. Integrated control layer 418 can be configured toenhance the effectiveness of demand response layer 414 by enablingbuilding subsystems 428 and their respective control loops to becontrolled in coordination with demand response layer 414. Thisconfiguration may advantageously reduce disruptive demand responsebehavior relative to conventional systems. For example, integratedcontrol layer 418 can be configured to assure that a demandresponse-driven upward adjustment to the setpoint for chilled watertemperature (or another component that directly or indirectly affectstemperature) does not result in an increase in fan energy (or otherenergy used to cool a space) that would result in greater total buildingenergy use than was saved at the chiller.

Integrated control layer 418 can be configured to provide feedback todemand response layer 414 so that demand response layer 414 checks thatconstraints (e.g., temperature, lighting levels, etc.) are properlymaintained even while demanded load shedding is in progress. Theconstraints may also include setpoint or sensed boundaries relating tosafety, equipment operating limits and performance, comfort, fire codes,electrical codes, energy codes, and the like. Integrated control layer418 is also logically below fault detection and diagnostics layer 416and automated measurement and validation layer 412. Integrated controllayer 418 can be configured to provide calculated inputs (e.g.,aggregations) to these higher levels based on outputs from more than onebuilding subsystem.

Automated measurement and validation (AM&V) layer 412 can be configuredto verify that control strategies commanded by integrated control layer418 or demand response layer 414 are working properly (e.g., using dataaggregated by AM&V layer 412, integrated control layer 418, buildingsubsystem integration layer 420, FDD layer 416, or otherwise). Thecalculations made by AM&V layer 412 can be based on building systemenergy models and/or equipment models for individual BMS devices orsubsystems. For example, AM&V layer 412 may compare a model-predictedoutput with an actual output from building subsystems 428 to determinean accuracy of the model.

Fault detection and diagnostics (FDD) layer 416 can be configured toprovide on-going fault detection for building subsystems 428, buildingsubsystem devices (i.e., building equipment), and control algorithmsused by demand response layer 414 and integrated control layer 418. FDDlayer 416 may receive data inputs from integrated control layer 418,directly from one or more building subsystems or devices, or fromanother data source. FDD layer 416 may automatically diagnose andrespond to detected faults. The responses to detected or diagnosedfaults can include providing an alert message to a user, a maintenancescheduling system, or a control algorithm configured to attempt torepair the fault or to work-around the fault.

FDD layer 416 can be configured to output a specific identification ofthe faulty component or cause of the fault (e.g., loose damper linkage)using detailed subsystem inputs available at building subsystemintegration layer 420. In other exemplary embodiments, FDD layer 416 isconfigured to provide “fault” events to integrated control layer 418which executes control strategies and policies in response to thereceived fault events. According to some embodiments, FDD layer 416 (ora policy executed by an integrated control engine or business rulesengine) may shut-down systems or direct control activities around faultydevices or systems to reduce energy waste, extend equipment life, orassure proper control response.

FDD layer 416 can be configured to store or access a variety ofdifferent system data stores (or data points for live data). FDD layer416 may use some content of the data stores to identify faults at theequipment level (e.g., specific chiller, specific AHU, specific terminalunit, etc.) and other content to identify faults at component orsubsystem levels. For example, building subsystems 428 may generatetemporal (i.e., time-series) data indicating the performance of BMS 400and the various components thereof. The data generated by buildingsubsystems 428 can include measured or calculated values that exhibitstatistical characteristics and provide information about how thecorresponding system or process (e.g., a temperature control process, aflow control process, etc.) is performing in terms of error from itssetpoint. These processes can be examined by FDD layer 416 to exposewhen the system begins to degrade in performance and alert a user torepair the fault before it becomes more severe.

Referring now to FIG. 5, a block diagram of another building managementsystem (BMS) 500 is shown, according to some embodiments. BMS 500 can beused to monitor and control the devices of HVAC system 100, watersidesystem 200, airside system 300, building subsystems 428, as well asother types of BMS devices (e.g., lighting equipment, securityequipment, etc.) and/or HVAC equipment.

BMS 500 provides a system architecture that facilitates automaticequipment discovery and equipment model distribution. Equipmentdiscovery can occur on multiple levels of BMS 500 across multipledifferent communications busses (e.g., a system bus 554, zone buses556-560 and 564, sensor/actuator bus 566, etc.) and across multipledifferent communications protocols. In some embodiments, equipmentdiscovery is accomplished using active node tables, which provide statusinformation for devices connected to each communications bus. Forexample, each communications bus can be monitored for new devices bymonitoring the corresponding active node table for new nodes. When a newdevice is detected, BMS 500 can begin interacting with the new device(e.g., sending control signals, using data from the device) without userinteraction.

Some devices in BMS 500 present themselves to the network usingequipment models. An equipment model defines equipment objectattributes, view definitions, schedules, trends, and the associatedBACnet value objects (e.g., analog value, binary value, multistatevalue, etc.) that are used for integration with other systems. Somedevices in BMS 500 store their own equipment models. Other devices inBMS 500 have equipment models stored externally (e.g., within otherdevices). For example, a zone coordinator 508 can store the equipmentmodel for a bypass damper 528. In some embodiments, zone coordinator 508automatically creates the equipment model for bypass damper 528 or otherdevices on zone bus 558. Other zone coordinators can also createequipment models for devices connected to their zone busses. Theequipment model for a device can be created automatically based on thetypes of data points exposed by the device on the zone bus, device type,and/or other device attributes. Several examples of automatic equipmentdiscovery and equipment model distribution are discussed in greaterdetail below.

Still referring to FIG. 5, BMS 500 is shown to include a system manager502; several zone coordinators 506, 508, 510 and 518; and several zonecontrollers 524, 530, 532, 536, 548, and 550. System manager 502 canmonitor data points in BMS 500 and report monitored variables to variousmonitoring and/or control applications. System manager 502 cancommunicate with client devices 504 (e.g., user devices, desktopcomputers, laptop computers, mobile devices, etc.) via a datacommunications link 574 (e.g., BACnet IP, Ethernet, wired or wirelesscommunications, etc.). System manager 502 can provide a user interfaceto client devices 504 via data communications link 574. The userinterface may allow users to monitor and/or control BMS 500 via clientdevices 504.

In some embodiments, system manager 502 is connected with zonecoordinators 506-510 and 518 via a system bus 554. System manager 502can be configured to communicate with zone coordinators 506-510 and 518via system bus 554 using a master-slave token passing (MSTP) protocol orany other communications protocol. System bus 554 can also connectsystem manager 502 with other devices such as a constant volume (CV)rooftop unit (RTU) 512, an input/output module (TOM) 514, a thermostatcontroller 516 (e.g., a TEC5000 series thermostat controller), and anetwork automation engine (NAE) or third-party controller 520. RTU 512can be configured to communicate directly with system manager 502 andcan be connected directly to system bus 554. Other RTUs can communicatewith system manager 502 via an intermediate device. For example, a wiredinput 562 can connect a third-party RTU 542 to thermostat controller516, which connects to system bus 554.

System manager 502 can provide a user interface for any devicecontaining an equipment model. Devices such as zone coordinators 506-510and 518 and thermostat controller 516 can provide their equipment modelsto system manager 502 via system bus 554. In some embodiments, systemmanager 502 automatically creates equipment models for connected devicesthat do not contain an equipment model (e.g., IOM 514, third partycontroller 520, etc.). For example, system manager 502 can create anequipment model for any device that responds to a device tree request.The equipment models created by system manager 502 can be stored withinsystem manager 502. System manager 502 can then provide a user interfacefor devices that do not contain their own equipment models using theequipment models created by system manager 502. In some embodiments,system manager 502 stores a view definition for each type of equipmentconnected via system bus 554 and uses the stored view definition togenerate a user interface for the equipment.

Each zone coordinator 506-510 and 518 can be connected with one or moreof zone controllers 524, 530-532, 536, and 548-550 via zone buses 556,558, 560, and 564. Zone coordinators 506-510 and 518 can communicatewith zone controllers 524, 530-532, 536, and 548-550 via zone busses556-560 and 564 using a MSTP protocol or any other communicationsprotocol. Zone busses 556-560 and 564 can also connect zone coordinators506-510 and 518 with other types of devices such as variable air volume(VAV) RTUs 522 and 540, changeover bypass (COBP) RTUs 526 and 552,bypass dampers 528 and 546, and PEAK controllers 534 and 544.

Zone coordinators 506-510 and 518 can be configured to monitor andcommand various zoning systems. In some embodiments, each zonecoordinator 506-510 and 518 monitors and commands a separate zoningsystem and is connected to the zoning system via a separate zone bus.For example, zone coordinator 506 can be connected to VAV RTU 522 andzone controller 524 via zone bus 556. Zone coordinator 508 can beconnected to COBP RTU 526, bypass damper 528, COBP zone controller 530,and VAV zone controller 532 via zone bus 558. Zone coordinator 510 canbe connected to PEAK controller 534 and VAV zone controller 536 via zonebus 560. Zone coordinator 518 can be connected to PEAK controller 544,bypass damper 546, COBP zone controller 548, and VAV zone controller 550via zone bus 564.

A single model of zone coordinator 506-510 and 518 can be configured tohandle multiple different types of zoning systems (e.g., a VAV zoningsystem, a COBP zoning system, etc.). Each zoning system can include aRTU, one or more zone controllers, and/or a bypass damper. For example,zone coordinators 506 and 510 are shown as Verasys VAV engines (VVEs)connected to VAV RTUs 522 and 540, respectively. Zone coordinator 506 isconnected directly to VAV RTU 522 via zone bus 556, whereas zonecoordinator 510 is connected to a third-party VAV RTU 540 via a wiredinput 568 provided to PEAK controller 534. Zone coordinators 508 and 518are shown as Verasys COBP engines (VCEs) connected to COBP RTUs 526 and552, respectively. Zone coordinator 508 is connected directly to COBPRTU 526 via zone bus 558, whereas zone coordinator 518 is connected to athird-party COBP RTU 552 via a wired input 570 provided to PEAKcontroller 544.

Zone controllers 524, 530-532, 536, and 548-550 can communicate withindividual BMS devices (e.g., sensors, actuators, etc.) viasensor/actuator (SA) busses. For example, VAV zone controller 536 isshown connected to networked sensors 538 via SA bus 566. Zone controller536 can communicate with networked sensors 538 using a MSTP protocol orany other communications protocol. Although only one SA bus 566 is shownin FIG. 5, it should be understood that each zone controller 524,530-532, 536, and 548-550 can be connected to a different SA bus. EachSA bus can connect a zone controller with various sensors (e.g.,temperature sensors, humidity sensors, pressure sensors, light sensors,occupancy sensors, etc.), actuators (e.g., damper actuators, valveactuators, etc.) and/or other types of controllable equipment (e.g.,chillers, heaters, fans, pumps, etc.).

Each zone controller 524, 530-532, 536, and 548-550 can be configured tomonitor and control a different building zone. Zone controllers 524,530-532, 536, and 548-550 can use the inputs and outputs provided viatheir SA busses to monitor and control various building zones. Forexample, a zone controller 536 can use a temperature input received fromnetworked sensors 538 via SA bus 566 (e.g., a measured temperature of abuilding zone) as feedback in a temperature control algorithm. Zonecontrollers 524, 530-532, 536, and 548-550 can use various types ofcontrol algorithms (e.g., state-based algorithms, extremum seekingcontrol (ESC) algorithms, proportional-integral (PI) control algorithms,proportional-integral-derivative (PID) control algorithms, modelpredictive control (MPC) algorithms, feedback control algorithms, etc.)to control a variable state or condition (e.g., temperature, humidity,airflow, lighting, etc.) in or around building 10.

Cascaded Air Quality Loop

Referring now to FIG. 6, a cascaded air quality loop 600 is shown,according to some embodiments. In some embodiments, cascaded air qualityloop 600 is a system including various controllers and devices. In someembodiments, cascaded air quality loop 600 represents a cascaded airquality algorithm which is performed by a controller and/or a set ofcontrollers. Cascaded air quality loop 600 is shown to include anoutdoor air flow (OAF) setpoint adjuster 604, a proportional variabledeadband controller (PVDC) 608, controllable elements 614, a flow sensor622, a conditioned space 620, and an indoor air quality (IAQ) sensor606, according to some embodiments. In some embodiments, OAF setpointadjuster 604 is a module of a controller (e.g., controller 800, PVDC608, etc.). In some embodiments, OAF setpoint adjuster 604 is acontroller (e.g., having a processing circuit, processor, and memory).Cascaded air quality loop 600 adjustably controls at least one of an IAQof conditioned space 620 and a ventilation of conditioned space 620(e.g., a flow rate of outdoor air entering conditioned space 620),according to some embodiments. For example, cascaded air quality loop600 may adjust an operation of an economizer of controllable elements614 to adjust OAF supplied to condition conditioned space 620 by theeconomizer, according to some embodiments. In some embodiments, cascadedair quality loop 600 adjusts controllable elements 614 of an economizer(e.g., AHU 302) to maintain a setpoint temperature and/or IAQ ofconditioned space 620. In cascaded air quality loop 600, controllableelements 614 include damper 616 and actuator 618, according to someembodiments. Damper 616 and actuator 618 are configured to adjustablycontrol an amount or a flow rate of outdoor air which is provided toconditioned space 620 by the economizer, according to some embodiments.

Referring still to FIG. 6, PVDC 608 is shown receiving an adjusted OAFsetpoint, OAF_(adj,stpt) from OAF setpoint adjuster 604, according tosome embodiments. PVDC 608 may receive the adjusted OAF setpoint anddetermine an operation of controllable elements 614 (i.e., damper 616and actuator 618) to achieve the adjusted OAF setpoint. In someembodiments, PVDC 608 uses an adaptive deadband control method todetermine control signals for controllable elements 614 to achieve theadjusted OAF setpoint. In some embodiments, the adaptive deadbandcontrol method of PVDC 608 reduces superfluous wear on at least one ofthe actuator 618 and the damper 616 by reducing the amount of timesactuator 618 and/or damper 616 transition between various positions(e.g., open, closed, partially open, etc.). Advantageously, PVDC 608reduces equipment dither (e.g., of actuator 618 and/or damper 616),reducing the likelihood that actuator 618 and/or damper 616 will wearout due to excessive use. The functionality of PVDC 608 is described ingreater detail below with reference to FIGS. 7-10, according to someembodiments.

PVDC 608 is shown receiving actual OAF information, OAF actual, fromflow sensor 622, according to some embodiments. In some embodiments,PVDC 608 receives the actual OAF from flow sensor 622 and the adjustedOAF setpoint from OAF setpoint adjuster 604, and determines controlsignals for controllable elements 614 to achieve the adjusted OAFsetpoint.

Referring still to FIG. 6, OAF setpoint adjuster 604 receives an IAQsetpoint error (e_(IAQ)) between IAQ setpoint and an actual indoor airquality (IAQ_(actual)), an initial OAF setpoint (OAF_(i)), and an OAFupper limit setpoint (OAF_(setpoint,UL)), according to some embodiments.OAF setpoint adjuster 604 uses the IAQ setpoint error (e_(IAQ)) and theOAF setpoint to determine the adjusted OAF setpoint based on the IAQsetpoint error, according to some embodiments. In some embodiments, theIAQ setpoint error is a difference between the indoor air qualitymeasured by indoor air quality sensor 606 and the indoor air qualitysetpoint. In some embodiments, the difference (i.e., the error) isdetermined by summing junction 602. In some embodiments, the initial OAFsetpoint is adjusted (e.g., increased or decreased). In someembodiments, the initial OAF setpoint is replaced with adjusted OAFsetpoint. In some embodiments, the initial OAF setpoint is determined byan economizer controller and is not changed (e.g., updated, increased,decreased, replaced, etc.).

In some embodiments, OAF setpoint adjuster 604 determines the adjustedOAF setpoint by determining an amount to subtract from the initial OAFsetpoint or add to the initial OAF setpoint based on the IAQ setpointerror. For example, OAF setpoint adjuster 604 may use a linearrelationship between the IAQ setpoint error and the initial OAFsetpoint. The linear relationship may be mathematically defined as anadjusted OAF setpoint equation:

OAF _(setpoint,adjusted)=OAF_(i) +e _(IAQ)β

where β is a constant, OAF_(i) is the initial OAF setpoint (e.g., acurrent OAF setpoint), and OAF_(setpoint,adjusted) is the adjusted OAFsetpoint to be supplied to PVDC 608, according to some embodiments. Insome embodiments, e_(IAQ) is determined by an equation:e_(IAQ)=IAQ_(setpoint)−IAQ_(actual). In some embodiments, the e_(IAQ)βterm is an amount to increase or decrease to achieve the adjusted OAFsetpoint. Using the error equation, if the actual IAQ is less than theIAQ setpoint, the e_(IAQ)β term of the adjusted OAF setpoint equation ispositive and therefore OAF_(setpoint,adjusted) is increased relative toOAF_(i). Likewise, if the actual IAQ is greater than the IAQ setpoint,the e_(IAQ)β term of the adjusted OAF setpoint equation is negative andtherefore OAF_(setpoint,adjusted) is decreased. In some embodiments, OAFsetpoint adjuster 604 only increases OAF_(i). For example, if e_(IAQ) isa negative value, OAF setpoint adjuster 604 may be configured to providethe initial OAF setpoint as the adjusted OAF setpoint (i.e., OAFsetpoint adjuster 604 may not change the initial OAF setpoint).

In some embodiments, the value of the adjusted OAF setpoint isconstrained to be less than or equal to the OAF upper limit setpoint.For example, the adjusted OAF setpoint can be defined by the followingequation:

OAF_(setpoint,adjusted)=min(OAF_(setpoint,UL), OAF_(i) +e _(IAQ)β)

where OAF_(setpoint,UL) is the OAF upper limit setpoint. In someembodiments, the OAF upper limit setpoint is a predetermined value. Insome embodiments, the OAF upper limit setpoint is a maximum achievableOAF based on characteristics of any of controllable elements 614. Insome embodiments, the OAF upper limit setpoint is a maximum allowableOAF based on characteristics of any of controllable elements 614 and/orthe economizer of controllable elements 614. In some embodiments, themaximum allowable OAF is a value offset relative to a maximum achievableOAF given characteristics of the economizer and/or controllable elements614 of the economizer (e.g., the maximum allowable OAF is 2% less thanthe maximum achievable OAF the maximum allowable OAF is 5% less than themaximum achievable OAF, etc.). If the hereinabove mentioned mathematicalequation results in an OAF_(setpoint,adjusted) value which exceeds theair flow upper limit setpoint value (i.e., OAF_(setpoint,UL)), OAFsetpoint adjuster 604 is configured to output the OAF upper limitsetpoint as OAF_(setpoint,adjusted) to PVDC 608, according to someembodiments. In some embodiments, OAF setpoint adjuster 604 maintains acurrent OAF setpoint to PVDC 608 if the error does not exceed apredetermined value (e.g., a quantity, a percentage, a standarddeviation, etc.). For example, if the IAQ setpoint error (i.e., e_(IAQ))does not exceed a predetermined value, OAF setpoint adjuster 604 isconfigured to maintain a current OAF setpoint value, according to someembodiments.

Referring still to FIG. 6, IAQ sensor 606 is shown measuring indoor airfrom conditioned space 620, according to some embodiments. IAQ sensor606 measures indoor air from conditioned space 620 and determines an airquality of the indoor air according to some embodiments. In someembodiments, IAQ sensor 606 supplies the measured IAQ to summingjunction 602 and/or OAF setpoint adjuster 604. In some embodiments, IAQsensor 606 identifies pollutants, particulates, or any other mass in theindoor air which is undesirable. In some embodiments, IAQ sensor 606identifies a concentration of airborne particles. In some embodiments,IAQ sensor 606 identifies concentrations of any of the particulatesand/or pollutants and/or other mass in the indoor air which isundesirable. For example, IAQ sensor 606 may be a carbon monoxide sensorand may identify a concentration of carbon monoxide in the indoor air ofconditioned space 620, according to some embodiments. In someembodiments, IAQ sensor 606 is a carbon dioxide sensor and is configuredto identify a concentration of carbon dioxide in the indoor air ofconditioned space 620. In some embodiments, IAQ sensor 606 identifies aconcentration in parts per million (ppm) of one or more types ofairborne particulates. In some embodiments, IAQ sensor 606 identifies asingular IAQ. In some embodiments, IAQ sensor 606 is a set of IAQsensors, configured to measure multiple IAQs. In some embodiments, IAQsensor 606 is a set of IAQ sensors and determines an overall IAQ. Insome embodiments, IAQ sensor 606 determines a set of IAQ values.

Referring still to FIG. 6, OAF setpoint adjuster 604 is shown supplyingPVDC 608 with adjusted OAF setpoint, according to some embodiments. PVDC608 is configured to receive the adjusted OAF setpoint, and determinecontrol signals to adjust an operation of controllable elements 614 toachieve the adjusted OAF setpoint, according to some embodiments. Insome embodiments, PVDC 608 is configured to receive feedback of actualOAF (i.e., OAF_(actual)) from flow sensor 622. The actual OAF is anactual flow of air provided to conditioned space 620 by the economizer.Flow sensor 622 is configured to identify/measure at least one of a massflow rate, a volumetric flow rate, and a speed of actual OAF, accordingto some embodiments. In some embodiments, flow sensor 622 is positionedin a flow path of the actual OAF. In some embodiments, flow sensor 622is a component of the economizer.

Flow sensor 622 provides the measured/identified actual OAF to PVDC 608,according to some embodiments. In some embodiments, PVDC 608 receivesthe measured/identified actual OAF and adjusts a deadband based on themeasured/identified actual OAF. In some embodiments, PVDC 608 increasesa magnitude of the deadband in response to adaptive noise estimatemodule 612 identifying an amount of noise in a signal associated withthe measured/identified OAF received from flow sensor 622. In someembodiments, adaptive noise estimate module 612 identifies a signal tonoise ratio of the signal associated with the measured/identified OAFreceived from flow sensor 622.

Cascaded air loop 600 adjusts an OAF setpoint to achieve a desired IAQ,according to some embodiments. Additionally, cascaded air loop 600adjusts a deadband value in order to achieve the adjusted OAF, accordingto some embodiments. In this way, cascaded air loop 600 is able to useboth the outdoor air flow setpoint as well as the IAQ setpoint.Advantageously, cascaded air loop 600 combines an indoor air qualityloop (e.g., formed by summing junction 602, OAF setpoint adjuster 604,PVDC 608, controllable elements 614, conditioned space 620 and IAQsensor 606) and an outdoor air flow loop (e.g., formed by PVDC 608,controllable elements 614, and flow sensor 622), allowing both thedesired outdoor air flow rate and the desired IAQ to be usedsimultaneously, according to some embodiments. In this way, cascaded airloop 600 functions as both the indoor air quality loop and the outdoorair flow loop. Advantageously, cascaded air loop 600 is configured touse both the desired outdoor air flow rate (e.g., OAF setpoint) and theIAQ (e.g., IAQ setpoint) without having to switch between the indoor airquality loop and the outdoor air flow loop as other control systems do.Additionally, cascaded air loop 600 provides a linear relationshipbetween IAQ setpoint error and OAF setpoint, according to someembodiments. Cascaded air loop 600 may increase or decrease the OAFsetpoint according to the linear relationship.

Example Performance Graph

Referring now to FIG. 7, an example graph 700 is shown, demonstrating adeadband used by cascaded air quality loop 600, according to someembodiments. The vertical axis (e.g., y-axis) of graph 700 represents acontrol variable (e.g., a variable to be controlled to maintain asetpoint value), according to some embodiments. Series 702 representsthe relationship between the control variable and number of samplestaken (e.g., time). The control variable may be any of an outdoor airflow rate, an indoor air quality, an indoor temperature, etc. In someembodiments, the horizontal axis represents a number of samples taken(or time). Graph 700 is shown to include a deadband 708, according tosome embodiments. Deadband 708 defines an upper deadband boundary 704and a lower deadband boundary 706, according to some embodiments. Insome embodiments, deadband 708 is centered about a setpoint 710 of thecontrol variable. If deadband 708 is centered about setpoint 710 of thecontrol variable, an amount between upper boundary 704 of deadband 708and an amount between lower boundary 706 of deadband 708 and setpoint710 is equal, according to some embodiments. In some embodimentsdeadband 708 is not centered about setpoint 710. If deadband 708 is notcentered about setpoint 710, the amount between upper boundary 704 ofdeadband 708 and setpoint 710 of the control variable is not equal tothe amount between lower boundary 706 of deadband 708 and setpoint 710,according to some embodiments. In some embodiments, deadband 708 is afixed value 712. In some embodiments, value 712 (and/or upper boundary704 and/or lower boundary 706) of deadband 708 is adaptively controlledby PVDC 608. In some embodiments, value 712 of deadband 708 is adjustedbased on a monitored/determined noise in control variable information.For example, if the OAF information received by PVDC 608 from flowsensor 622 is noisy (e.g., random noise, white noise, etc.), deadband708 is adjusted (e.g., increased, decreased, etc.). In some embodiments,deadband 708 is adjusted based on a noise to signal ratio. In someembodiments, value 712 of deadband 708 is increased or decreased, whilein some embodiments, any of the amount between upper deadband boundary704 and setpoint 710 and the amount between lower deadband boundary 706and setpoint 710 is adjusted (e.g., increased or decreased). In someembodiments, value 712 of deadband 708 is constant and an offset ofdeadband 708 relative to setpoint 710 is adjusted based on an amount ofnoise in a signal of the control variable (e.g., deadband 708 is offsetrelative to setpoint 710 such that deadband 708 is not centered aboutsetpoint 710).

In some embodiments, PVDC 608 is configured to adjust an operation ofcontrollable elements 614 in response to the control variable exceedingupper deadband boundary 704 or the control variable being less thanlower deadband boundary 706. In some embodiments, PVDC 608 is configuredto maintain a current operation (e.g., position/actuation of at leastone of dampers 616 and actuator 618) in response to the control variablebeing within deadband 708 (e.g., less than upper deadband boundary 704and greater than lower deadband boundary 706).

Cascaded Air Quality Loop Controller

Referring now to FIG. 8, a controller 800 is shown, according to someembodiments. Controller 800 is configured to generate control signalsfor controllable elements 828 of economizer 820, according to someembodiments. In some embodiments, controllable elements 828 arecontrollable elements 614 (e.g., including damper 616 and actuator 618).

Controller 800 is shown to include a communications interface, shown asinput interface 818 and output interface 816, according to someembodiments. Input interface 818 and output interface 816 may facilitatecommunications between controller 800 and external applications (e.g.,equipment such as economizer 820) for allowing user control, monitoring,and adjustment to economizer 820 and/or controllable elements 828. Inputinterface 818 and output interface 816 may also facilitatecommunications between controller 800. For example, if PVDC module 808of controller 800 is configured as a separate controller, inputinterface 818 and output interface 816 may facilitate communicationbetween controller 800 and the separate PVDC controller. Additionally,input interface 818 and output interface 816 may facilitatecommunication between controller 800 and any of IAQ sensor 822, flowrate sensor 824 and economizer 820.

Input interface 818 and output interface 816 can be or include wired orwireless communications interfaces (e.g., jacks, antennas, transmitters,receivers, transceivers, wire terminals, etc.) for conducting datacommunications with any of IAQ sensor 822, flow rate sensor 824, andeconomizer 820, or other external systems or devices. In variousembodiments, communications via input interface 818 and output interface816 can be direct (e.g., local wired or wireless communications) or viaa communications network (e.g., a WAN, the Internet, a cellular network,etc.). For example, input interface 818 and output interface 816 caninclude an Ethernet card and port for sending and receiving data via anEthernet-based communications link or network. In another example, inputinterface 818 and output interface 816 can include a Wi-Fi transceiverfor communicating via a wireless communications network. In anotherexample, one or both of input interface 818 and output interface 816 caninclude cellular or mobile phone communications transceivers.

Still referring to FIG. 8, controller 800 is shown to include aprocessing circuit 802 including a processor 804 and memory 806.Processing circuit 802 can be communicably connected to input interface818 and/or output interface 816 such that processing circuit 802 and thevarious components thereof can send and receive data via input interface818 and output interface 816. Processor 804 can be implemented as ageneral purpose processor, an application specific integrated circuit(ASIC), one or more field programmable gate arrays (FPGAs), a group ofprocessing components, or other suitable electronic processingcomponents.

Memory 806 (e.g., memory, memory unit, storage device, etc.) can includeone or more devices (e.g., RAM, ROM, Flash memory, hard disk storage,etc.) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent application. Memory 806 can be or include volatile memory ornon-volatile memory. Memory 806 can include database components, objectcode components, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present application. According to someembodiments, memory 806 is communicably connected to processor 804 viaprocessing circuit 802 and includes computer code for executing (e.g.,by processing circuit 802 and/or processor 804) one or more processesdescribed herein.

Referring still to FIG. 8, controller 800 is shown communicablyconnected to economizer 820, controllable elements 828, IAQ sensor 822,and flow rate sensor 824, according to some embodiments. In someembodiments, input interface 818 and output interface 816 facilitatecommunication between controller 800 (e.g., processing circuit 802 ofcontroller 800) and any of economizer 820, IAQ sensor 822, and flow ratesensor 824. Economizer 820 may be any of a condensing and anon-condensing economizer. Economizer 820 includes any of one or moreoutdoor air temperature sensors, one or more heating coils, one or morecooling coils, one or more outside air dampers, one or more fans, ducts,pipes, joints, plumbing, etc., configured facilitate delivery of outsideair to conditioned space 826 to provide cooling for conditioned space826. Any of the components of economizer 820 which may be controlled toadjust the flow rate of outside air are referred to as controllableelements 828 (e.g., actuator 618 and damper 616), according to someembodiments. In some embodiments, economizer 820 includes a particulatefilter configured to filter airborne particles from the outdoor air,such that air provided to conditioned space 826 does not decrease theIAQ of conditioned space 826.

Referring still to FIG. 8, economizer 820 is shown supplying conditionedspace 826 with outdoor air, according to some embodiments. IAQ sensor822 is configured to measure/monitor an IAQ of conditioned space 826,according to some embodiments. In some embodiments, IAQ sensor 822 isIAQ sensor 606. IAQ sensor 822 may be positioned outside of conditionedspace 826, or may be positioned within conditioned space 826. If IAQsensor 822 is positioned outside of conditioned space 826, IAQ sensor822 includes a probe configured to be located within conditioned space826, according to some embodiments. IAQ sensor 822 is shownmonitoring/measuring an IAQ of conditioned space 826 and providing theIAQ measurement to error module 812 through input interface 818,according to some embodiments. In some embodiments, IAQ sensor 822provides controller 800 with real time information indicating a presentIAQ of conditioned space 826. In some embodiments, IAQ sensor 822provides controller 800 (e.g., error module 812) with the IAQ ofconditioned space 826 periodically at an end of a timestep having apredetermined value. For example, IAQ sensor 822 may provide controller800 with the IAQ of conditioned space 826 every 1 second, every 0.5seconds, every 5 seconds, etc.

Referring still to FIG. 8, flow rate sensor 824 is shownmonitoring/measuring an OAF of outside air supplied to conditioned space826 by economizer 820, according to some embodiments. In someembodiments, flow rate sensor 824 is configured to monitor/measure flowrate of any of a liquid (e.g., water) or a gas (e.g., oxygen, air,hydrogen, etc.). Flow rate sensor 824 may be positioned along a flowpath of outdoor air provided to conditioned space 826 by economizer 820.In some embodiments, flow rate sensor 824 is configured to monitor anyof a mass flow rate of the outdoor air provided to conditioned space826, a volumetric flow rate of the outdoor air provided to conditionedspace 826, and a velocity of the outdoor air provided to conditionedspace 826. In some embodiments, flow rate sensor 824 is a component ofeconomizer 820. In some embodiments, flow rate sensor 824 is anadditional sensor positioned downstream of economizer 820 and isconfigured to measure OAF downstream of economizer 820.

Flow rate sensor 824 is shown providing the measured/monitored OAF(e.g., a signal, a data object, time series data, real time data, etc.)to PVDC module 808 of controller 800, according to some embodiments. Insome embodiments, flow rate sensor 824 is wiredly connected to inputinterface 818. In some embodiments, flow rate sensor 824 is wirelesslyconnected to input interface 818. In some embodiments, flow rate sensor824 periodically provides PVDC module 808 with the measured/monitoredOAF at an end of a time step having a predetermined time period.

Referring still to FIG. 8, controller 800 is shown to include PVDCmodule 808, OAF adjustment module 810, and error module 812, accordingto some embodiments. Error module 812 is shown receivingmeasured/monitored IAQ from IAQ sensor 822, according to someembodiments. In some embodiments error module 812 is provided with anIAQ setpoint from a user interface (not shown) configured to becommunicably connected with at least one of input interface 818 andoutput interface 816. In some embodiments, IAQ setpoint is apredetermined value, determined by one or more air quality standards(e.g. as set by the Occupational Safety and Health Administration).Error module 812 is configured to determine IAQ setpoint error betweenthe IAQ setpoint and the measure/monitored IAQ of conditioned space 826.In some embodiments, the IAQ setpoint error is an absolute error betweenthe IAQ setpoint and the measured/monitored IAQ of conditioned space826. In some embodiments, IAQ setpoint error is a difference between theIAQ setpoint and the measured/monitored IAQ of conditioned space 826. Insome embodiments, IAQ setpoint error is an average error over a timeperiod. For example, error module 812 may periodically receive themeasured/monitored IAQ of conditioned space 826 from IAQ sensor 822 atan end of a time interval having a predetermined duration. In someembodiments, error module 812 is configured to average a predeterminednumber of samples of the measured/monitored IAQ of conditioned space 826(e.g., a number of samples corresponding to a predetermined timeduration) and determine a difference between the averagemeasured/monitored IAQ of conditioned space 826 and the IAQ setpoint. Insome embodiments, error module 812 is configured to determine anuncertainty (e.g., a standard deviation) associated with the average IAQsetpoint error. In some embodiments, error module 812 is summingjunction 602.

Error module 812 is configured to provide OAF adjustment module 810 withthe IAQ setpoint error, according to some embodiments. In someembodiments, OAF adjustment module 810 uses the IAQ setpoint error todetermine an OAF setpoint (e.g., the adjusted OAF setpoint) and providethe OAF setpoint to PVDC module 808. In some embodiments, OAF adjustmentmodule 810 is OAF setpoint adjuster 604. OAF adjustment module 810 maybe configured to use the adjusted OAF setpoint equation shown above anddescribed in greater detail with reference to FIG. 6. In someembodiments, OAF adjustment module 810 is configured to determine theadjusted OAF setpoint based on the IAQ setpoint error received by errormodule 812 using any of the functions/operations described in greaterdetail below with reference to FIG. 9. OAF adjustment module 810 mayperiodically determine the adjusted OAF setpoint, according to someembodiments. For example, OAF adjustment module 810 may periodicallydetermine the adjusted OAF setpoint at an end of a time step having apredetermined duration, according to some embodiments. In someembodiments, OAF adjustment module 810 determines the adjusted OAFsetpoint whenever it receives IAQ setpoint error from error module 812.In some embodiments, OAF adjustment module 810 only determines theadjusted OAF setpoint if the error received from error module 812exceeds a predetermined amount.

Referring still to FIG. 8, controller 800 is shown to include PVDCmodule 808, according to some embodiments. In some embodiments, PVDCmodule 808 is PVDC 608. PVDC module 808 is configured to performproportional variable deadband control to generate control signals forcontrollable elements 828 of economizer 820 to adjust economizer 820such that the adjusted OAF setpoint is met, according to someembodiments. In some embodiments, PVDC module 808 receives feedback ofthe actual OAF from flow rate sensor 824. PVDC module 808 uses theadjusted OAF setpoint and the feedback from flow rate sensor 824 toadaptively adjust a deadband and generate control signals for economizer820. In some embodiments, PVDC module 808 functions as described ingreater detail below with reference to FIG. 10.

Referring still to FIG. 8, PVDC module 808 is shown to includeproportional control module 814 and adaptive noise estimate module 830,according to some embodiments. In some embodiments, adaptive noiseestimation module 830 is configured to determine a signal to noise ratioof a signal indicating the actual OAF received from flow rate sensor824. In some embodiments, adaptive noise estimation module 830 isconfigured to provide proportional control module 814 with the signal tonoise ratio so that proportional control module 814 can adjust thedeadband based on the signal to noise ratio. In this way, if a signalassociated with the actual OAF received from flow rate sensor 824includes a large amount of noise (e.g., has a high noise to signal ratioor a low signal to noise ratio), PVDC module 808 increases the deadbandsuch that controllable elements 828 do not superfluously actuate betweenvarious operational configurations, according to some embodiments.Advantageously, this prevents controllable elements 828 from undergoingexcessive wear and dithering. In some embodiments, proportional controlmodule 814 is configured to perform any feedback control algorithm(e.g., PID control, PI control, stochastic control, etc.).

Adjusted OAF Setpoint Determination

Referring now to FIG. 9, a graph 900 illustrating the function/operationof OAF setpoint adjuster 604 is shown in greater detail, according tosome embodiments. The horizontal axis (e.g., the x-axis) of graph 900represents IAQ setpoint error (e.g., e_(IAQ)), according to someembodiments. In some embodiments, IAQ setpoint error is determined bysumming junction 602 and provided to OAF setpoint adjuster 604. In someembodiments, summing junction 602 determines a difference (e.g., anabsolute error) between the IAQ setpoint (as determined by a user or byvarious air quality standards, etc.), and IAQ as measured/monitored andsupplied to summing junction 602 by IAQ sensor 606. In some embodimentsthe difference determined by summing junction 602 is IAQ setpoint error.In some embodiments, OAF setpoint adjuster 604 is configured to receivethe IAQ setpoint and the IAQ and determine IAQ setpoint error.

Referring still to FIG. 9, IAQ setpoint error (e.g., the difference asdetermined and supplied by summing junction 602 and/or OAF setpointadjuster 604) is shown as an independent variable, according to someembodiments. In some embodiments, the vertical (e.g., y-axis) of graph900 represents adjusted OAF setpoint. In some embodiments, the OAFsetpoint is a dependent variable, depending on the value of IAQ setpointerror. In some embodiments, IAQ setpoint error is used to determine theadjusted OAF setpoint. In some embodiments, the vertical (e.g., y-axis)of graph 900 represents adjusted OAF setpoint.

Referring still to FIG. 9, graph 900 is shown to include series 902,according to some embodiments. In some embodiments, series 902represents a relationship between IAQ setpoint error and OAF setpoint.In some embodiments, series 902 illustrates a linear relationshipbetween IAQ setpoint error and OAF setpoint. In some embodiments, series902 is a non-linear relationship (e.g., higher order polynomial,logarithmic, exponential, etc.). In some embodiments, series 902 is apiece-wise function. In some embodiments, series 902 is the adjusted OAFsetpoint equation as described in greater detail above with reference toFIG. 6. In some embodiments, the linear relationship between IAQsetpoint error and OAF setpoint is determined based on empirical data.In some embodiments, the linear relationship (e.g., (3) is based on anyof a type of economizer, specifications of the economizer, conditionedspace parameters (e.g., size, infiltration rate, volume, window area,etc.).

Referring still to FIG. 9, series 902 is shown having an initial value912 and a slope 906, according to some embodiments. In some embodiments,initial value 912 is an initial OAF setpoint (OAF_(i)). In someembodiments, initial value 912 is OAF_(i) of the adjusted OAF setpointequation. In some embodiments, slope 906 is P. Series 902 is shownlimited at an upper OAF setpoint represented by upper boundary 904,according to some embodiments. In some embodiments upper boundary 904 isa maximum achievable OAF value (e.g., a maximum possible OAF based onequipment restraints, a maximum allowable OAF based on performanceparameters, etc.). In some embodiments, upper boundary 904 isOAF_(setpoint,max). In some embodiments, upper boundary 904 isOAF_(setpoint,UL). Series 902 is a piece-wise function, mathematicallyrepresented as:

${OAF}_{{setpoint},{adjusted}} = \left\{ \begin{matrix}{{{OAF}_{i} + {e_{IAQ}\beta}},} & {e_{IAQ} < \frac{\left( {{OAF}_{{setpoint},{UL}} - {OAF}_{i}} \right)}{\beta}} \\{{OAF}_{{setpoint},{UL}},} & {e_{IAQ} \geq \frac{\left( {{OAF}_{{setpoint},{UL}} - {OAF}_{i}} \right)}{\beta}}\end{matrix} \right.$

according to some embodiments. In the piece-wise function describedabove, the adjusted OAF setpoint is determined using OAF_(i)+e_(IAQ)β ifthe condition

${e_{IAQ} > {\frac{\left( {{OAF}_{{setpoint},{UL}} - {OAF}_{i}} \right)}{\beta}\mspace{14mu}{is}\mspace{14mu}{met}}},$

according to some embodiments. In some embodiments, rearranging thecondition e_(IAQ)<

$\frac{\left( {{OAF}_{{setpoint},{UL}} - {OAF}_{i}} \right)}{\beta}$

results in e_(IAQ)β+OAF_(i)<OAF_(setpoint,UL). In this way, if theadjusted OAF setpoint is less than upper boundary 904 (e.g.,OAF_(setpoint,UL), OAF_(setpoint,max)), the adjusted OAF setpoint isdetermined using OAF_(setpoint,adjusted)=OAF_(i)+e_(IAQ)β. If, however,the condition is not met, the adjusted OAF setpoint is set equal toOAF_(setpoint,UL) (upper boundary 904), according to some embodiments.

Referring still to FIG. 9, series 902 may be used to determine adjustedOAF setpoint (e.g., OAF_(setpoint,adjusted)) or a change in OAF setpoint(e.g., ΔOAF_(setpoint)). In some embodiments the change in OAF setpoint(ΔOAF_(setpoint)) is the e_(IAQ)β term of the adjusted OAF equation. Forexample, if IAQ setpoint error e_(IAQ) changes from a value 914 to avalue 916, IAQ setpoint error e_(IAQ) value 916 (or a difference betweenIAQ setpoint error e_(IAQ) 916 and IAQ setpoint error e_(IAQ) value 914,Δe_(IAQ)) may be used to determine ΔOAF_(setpoint) (i.e., value 910) andadd or subtract ΔOAF_(setpoint) to the initial OAF setpoint. In someembodiments, series 902 is only used to adjust OAF setpoint if IAQsetpoint error e_(IAQ) exceeds a threshold value. For example, in someembodiments, the threshold value is IAQ setpoint error value 914. Insome embodiments, OAF setpoint adjuster 604 does not increase OAFsetpoint until IAQ setpoint error exceeds IAQ setpoint error value 914.In some embodiments, the initial OAF setpoint is increased or decreasedbased on a sign of e_(IAQ). The change in OAF setpoint is defined by apiece-wise function mathematically represented as:

${\Delta\;{OAF}_{setpoint}} = \left\{ \begin{matrix}{{e_{IAQ}\beta},} & {e_{IAQ} < \frac{\left( {{OAF}_{{setpoint},{UL}} - {OAF}_{i}} \right)}{\beta}} \\{0,} & {e_{IAQ} \geq \frac{\left( {{OAF}_{{setpoint},{UL}} - {OAF}_{i}} \right)}{\beta}}\end{matrix} \right.$

according to some embodiments. In the piece-wise function describedabove, the change in OAF setpoint is determined using e_(IAQ)β such thata condition

${e_{IAQ} < {\frac{\left( {{OAF}_{{setpoint},{UL}} - {OAF}_{i}} \right)}{\beta}\mspace{14mu}{is}\mspace{14mu}{met}}},$

according to some embodiments. In some embodiments, rearranging thecondition e_(IAQ)<

$\frac{\left( {{OAF}_{{setpoint},{UL}} - {OAF}_{i}} \right)}{\beta}$

results in e_(IAQ)β+OAF_(i)<OAF_(setpoint,UL). In this way, if theadjusted OAF setpoint is less than upper boundary 904 (e.g.,OAF_(setpoint,UL), OAF_(setpoint,max)), the change in OAF setpoint isdetermined using ΔOAF_(setpoint). If, however, the condition is not met,the change in OAF setpoint is zero (upper boundary 904), according tosome embodiments.

In some embodiments, β is determined using an empirical relationshipbetween OAF setpoint and IAQ setpoint error. In some embodiments, β isdetermined based on a linear regression of empirical data between OAFand IAQ setpoint error. In some embodiments, β has units of

$\frac{\overset{.}{V}}{\Delta\;{ppm}}$

where {dot over (V)} is volumetric flow rate (e.g., the units of OAF)and Δppm is a change in parts per million (e.g., the units of indoor airquality). In some embodiments, β has units such that the term e_(IAQ)βhas the same units as OAF_(i). In some embodiments, the relationshipbetween OAF setpoint and IAQ setpoint error is non-linear. For example,the relationship between OAF setpoint and IAQ setpoint error may be ahigher order polynomial and have a general equation:

OAF_(adjusted)=α₁ e _(IAQ) ²+α₂ e _(IAQ)+OAF_(i)

according to some embodiments. In some embodiments, the higher orderpolynomial relationship is determined based on a regression of empiricaldata. In some embodiments, the higher order polynomial relationshipshown above includes a first constant α₁ and a second constant α₂. Insome embodiments, the higher order polynomial relationship is also apiecewise function as described above in greater detail. Likewise, therelationship between OAF setpoint and IAQ setpoint error may be anyother non-linear relationship.

In some embodiments, any of β, α₁, α₂, or any other coefficients arespecific to at least one of an application of the economizer, theeconomizer, parameters of a conditioned space, a building, a set of IAQcodes, etc. For example, in some embodiments, a larger amount of OAFmust be brought into a larger conditioned space. Accordingly, for anapplication where a larger amount of OAF must be brought into theconditioned space, β may be larger than a β corresponding to a smallerconditioned space. Likewise, the value of β may vary based on a type ofeconomizer used, according to some embodiments. In some embodiments, βis determined based on an outdoor air quality. For example, if outdoorair quality is high, less OAF may need to be introduced to theconditioned space (e.g., conditioned space 620, conditioned space 826,etc.). In some embodiments, β is determined based on an empiricalrelationship between OAF setpoint and IAQ setpoint error and is adjusted(e.g., increased or decreased) based on any of properties of theeconomizer, IAQ codes, volume of the conditioned space, infiltration ofthe conditioned space, etc.. For example, is determined using theequation:

β=β_(empirical)±θ

according to some embodiments. In some embodiments, β_(empirical) isdetermined based on an empirical relationship between OAF setpoint andIAQ error setpoint (or between OAF and a change in IAQ). In someembodiments, θ is an adjustment parameter and is a function of any ofoutdoor air quality, IAQ codes, the economizer, parameters (e.g.,volume, infiltration rate, etc.) of the conditioned space, etc. In someembodiments, is adaptively adjusted based on sensor information from anoutdoor air quality sensor.

OAF setpoint adjuster 604 may use series 902 (e.g., a linearrelationship) or a non-linear relationship to determine the adjusted OAFsetpoint based on the IAQ setpoint error. This works on the principlethat if the IAQ setpoint is not met (e.g., a sufficiently large IAQsetpoint error is determined), the IAQ setpoint can be met byintroducing fresh outdoor air (e.g., by increasing OAF setpoint) intoconditioned space 620. In some embodiments, increasing OAF setpointincreases an output of return air from conditioned space 620. In thisway, increasing OAF setpoint changes the ventilation provided toconditioned space 620. In some embodiments, a sign of IAQ setpoint errordetermines if the adjusted OAF setpoint should be increased ordecreased. The initial OAF setpoint may be decreased if the actual IAQexceeds the IAQ setpoint. In some embodiments, graph 900 and/or adjustedOAF equation is only used to increase the IAQ setpoint when the actualIAQ is less than the IAQ setpoint. In some embodiments, the adjusted OAFsetpoint is determined based on the initial OAF setpoint and the IAQsetpoint error but the initial OAF setpoint is not changed. In someembodiments, the initial OAF setpoint is determined by an economizercontroller or another controller.

Proportional Variable Deadband Controller (PVDC)

As described above, a proportional variable deadband controller (PVDC)may be used to control the economizer or controllable elements 614,controllable elements 828, etc., according to the present disclosure.FIG. 10 is a graph illustrating the function of a PVDC. In someembodiments, PVDC 608 (as shown in FIG. 6) is or includes a PVDC. Insome embodiments, controller 800 (as shown in FIG. 8) is or includes aPVDC (e.g., PVDC module 808).

In some embodiments, the PVDC includes a deadband filter. The deadbandfilter may be configured to filter one or more of the measurements(y_(p)) (e.g., actual OAF, measured OAF, etc.) to generate one or morefiltered measurements (y_(w)). In some embodiments, the deadband filterdetermines whether each measurement (y_(p)) is within a deadband rangecentered around a setpoint (r) for the measured variable (y_(p)). Thesetpoint (r) may be provided as an input the PVDC (e.g.,OAF_(adjusted)).

If the measurement (y_(p)) is within the deadband range

$\left( {{i.e.},{{r - \frac{DB}{2}} \leq y_{p} \leq {r + \frac{DB}{2}}}} \right),$

the deadband filter may set the filtered measurement (y_(w)) equal tothe setpoint (r). However, if the measurement (y_(p)) is outside thedeadband range

$\left( {{i.e.},{y_{p} < {r - {\frac{DB}{2}\mspace{14mu}{or}\mspace{14mu} y_{p}}} > {r + \frac{DB}{2}}}} \right),$

the deadband filter may add or subtract the deadband threshold

$\frac{DB}{2}$

from the measurement (y_(p)) to bring the filtered measurement (y_(w))closer to the setpoint (r). The following equation illustrates thecalculation which may be performed by the deadband filter to generateeach filtered measurement (y_(w)) as a function of the corresponding rawmeasurement (y_(p)):

$y_{w} = \left\{ \begin{matrix}r & {{{if}\mspace{14mu}{{r - y_{p}}}} \leq \frac{DB}{2}} \\{r - {{{sign}\left( {r - y_{p}} \right)}\left( {{{r - y_{p}}} - \frac{DB}{2}} \right)}} & {{{{if}{\;\mspace{11mu}}{{r - y_{p}}}} > \frac{DB}{2}}\;}\end{matrix} \right.$

The horizontal axis of graph 1000 represents the measurement (y_(p))provided as an input to the deadband filter, whereas the vertical axisof graph 1000 represents the filtered measurement (y_(w)) provided as anoutput of the deadband filter. The center point 1006 of graph 1000 isequal to the setpoint (r) for measured variable (y_(p)). For example, ifmeasured variable (y_(p)) is a room temperature, and the setpoint (r)for the room temperature is 70° F., the center point 1006 of graph 1000may have a value of 70° F.

Graph 1000 is shown to have two sections: a slope section 1002 and adeadband section 1004. Deadband section 1004 has a range of

$\pm \frac{DB}{2}$

on either side of the setpoint (r). If the input (y_(p)) to the deadbandfilter falls within deadband section 2104

$\left( {{i.e.},{{r - \frac{DB}{2}} \leq y_{p} \leq {r + \frac{DB}{2}}}} \right),$

the output (y_(w)) of the deadband filter is equal to the setpoint (r).However, if the input (y_(p)) to the deadband filter falls within slopesection 1002,

$\left( {{i.e.},{y_{p} < {r - {\frac{DB}{2}\mspace{14mu}{or}\mspace{14mu} y_{p}}} > {r + \frac{DB}{2}}}} \right),$

the output (y_(w)) of the deadband filter is a linear function of theinput (y_(p)) and is shifted closer to the setpoint (r) by an amountequal to the deadband threshold

$\left( \frac{DB}{2} \right).$

For example, if the input (y_(p)) falls within slope section 1002 and isless than the setpoint (r), then the output (y_(w)) is equal to

$y_{p} + \frac{DB}{2}$

However, if the input (y_(p)) falls within slope section 1002 and isgreater than the setpoint (r), then the output (y_(w)) is equal to

$y_{p} - {\frac{DB}{2}.}$

Advantageously, the deadband filter operates to reduce the integratederror of the measured variable (y_(p)) relative to the setpoint (r) byestablishing a deadband section 1004 around the setpoint (r)

$\left( {{i.e.},{r \pm \frac{DB}{2}}} \right).$

If the measurement (y_(p)) falls within deadband section 1004, thefiltered measurement (y_(w)) will be equal to the setpoint (r) and theerror e=r−y_(w) will be equal to zero. This ensures that the controllermay not accumulate a large integrated error (e.g., Σ_(i=1) ^(n) e_(i))over time for persistent values of y_(p) within deadband section 1004.

Examples of PVDCs which may be used as a controller (e.g. PVDC 608,controller 800, PVDC module 808) according to the present disclosure aredescribed in detail in U.S. patent application Ser. No. 15/619,203 filedon Jun. 9, 2017. The entire disclosure of this patent application isincorporated by reference herein. Additional examples of PVDCs which maybe used as a controller (e.g. PVDC 608, controller 800, PVDC module 808)according to the present disclosure are described in detail in U.S.patent application Ser. No. 15/908,041 filed on Feb. 28, 2018. Theentire disclosure of this patent application is incorporated byreference herein.

Cascaded Method

Referring now to FIG. 11, a process 1100 showing a cascaded process ofcontrolling an economizer is shown, according to some embodiments.Process 1100 is shown to include steps 1102-1118, according to someembodiments. In some embodiments, any or all of the steps 1102-1118 areperformed in a different order than as shown in FIG. 11. In someembodiments, any of steps 1102-1118 are performed simultaneously.

Process 1100 is shown to include determining an IAQ setpoint error basedon an IAQ and an IAQ setpoint (step 1102), according to someembodiments. In some embodiments, the IAQ setpoint error is a differencebetween the actual IAQ and the IAQ setpoint. In some embodiments the IAQsetpoint error is determined using IAQ setpoint error equation:e_(IAQ)=IAQ_(setpoint)−IAQ_(actual). The IAQ setpoint may be apredetermined value (e.g., a standard as set by OSHA) or it may bedetermined based on any of characteristics of the economizer,characteristics/parameters of the conditioned space (e.g., volume,window area, type of room, building type, etc.). In some embodiments,step 1102 is performed by any of summing junction 602, OAF setpointadjuster 604, and OAF adjustment module 810.

Process 1100 is shown to include determining if the IAQ setpoint erroris less than an IAQ setpoint error threshold (step 1104). In someembodiments the IAQ setpoint error threshold is zero. In someembodiments, the IAQ setpoint error threshold is a predeterminedpositive value. Step 1104 may be performed by any of OAF setpointadjuster 604 and OAF adjustment module 810, according to someembodiments.

If the IAQ setpoint error is less than the IAQ setpoint error threshold,process 1100 shows maintaining a current OAF setpoint value (step 1106)by setting adjusted OAF setpoint to the initial OAF setpoint, accordingto some embodiments. In some embodiments, step 1106 is performed by anyof OAF setpoint adjuster 604 and OAF adjustment module 810. In someembodiments, step 1106 is optional, and the initial OAF setpoint is notchange. In some embodiments, the initial OAF setpoint is determined byan economizer controller.

If the IAQ setpoint error is greater than the IAQ setpoint errorthreshold, process 1100 shows increasing the OAF setpoint (step 1108),according to some embodiments. In some embodiments, the OAF setpoint isincreased proportionally to the IAQ setpoint error threshold. In someembodiments, an increase in the OAF setpoint is determined based on atleast one of an increase in the IAQ setpoint error and the IAQ setpointerror. In some embodiments, step 1108 is performed by any of OAFadjustment module 810 and OAF setpoint adjuster 604. In someembodiments, the OAF setpoint is increased based on a linearrelationship between the IAQ setpoint error and OAF setpoint. In someembodiments, the linear relationship used to determine the OAF setpoint(e.g., an adjusted OAF setpoint, an amount to increase the OAF setpointby, etc.) is the relationship described in greater detail above withreference to FIG. 9. In some embodiments, the OAF setpoint is onlyadjusted (e.g., increased) up to an OAF upper limit setpoint. If thelinear relationship between the OAF setpoint and the IAQ setpoint errorresults in an OAF setpoint which exceeds the OAF upper limit setpoint,the OAF setpoint may be set to the OAF upper limit setpoint.

Process 1100 is shown to include performing PVDC based on the adjustedOAF setpoint as determined in step 1108 and an actual OAF (step 1110),according to some embodiments. In some embodiments, the actual OAF isprovided by a flow sensor (e.g., any of flow rate sensor 824 and flowsensor 622). In some embodiments, the adjusted OAF setpoint is theadjusted OAF setpoint as determined in step 1106. The PVDC performedbased on the adjusted OAF setpoint and the actual OAF is described ingreater detail with reference to FIGS. 6-10, according to someembodiments.

Process 1100 includes controlling an economizer to achieve the adjustedOAF setpoint (step 1112), according to some embodiments. In someembodiments, control signals for at least one of a damper and anactuator of the economizer (e.g., controllable elements 828,controllable elements 614) are determined by the PVDC of step 1110.

Process 1100 includes updating the initial OAF setpoint with theadjusted OAF setpoint (step 1114) for any of OAF setpoint adjuster 604,OAF adjustment module 810, controller 800, etc., according to someembodiments. In some embodiments, step 1114 is performed by any ofcontroller 800, PVDC module 808, and PVDC 608. In some embodiments, step1114 is performed in response to the adjusted OAF setpoint beingachieved. In some embodiments, step 1114 is performed in response to anyof PVDC 608 and PVDC module 808 receiving an adjusted OAF setpoint. Insome embodiments, updating the initial OAF setpoint with the adjustedOAF setpoint (step 1114) is optional, and the initial OAF setpoint isnot change. In some embodiments, the initial OAF setpoint is determinedby an economizer controller.

Process 1100 includes measuring the actual OAF and measuring the actualIAQ (steps 1116 and 1118), according to some embodiments. In someembodiments, step 1116 is performed by any of flow sensor 622, and flowrate sensor 824. In some embodiments, step 1118 is performed by any ofIAQ sensor 606 and IAQ sensor 822. In some embodiments, the actual OAFis provided to any of PVDC 608, controller 800, and PVDC module 808. Insome embodiments the actual IAQ is provided to any of OAF setpointadjuster 604, OAF adjustment module 810, and controller 800. In someembodiments, step 1118 and step 1116 are performed periodically,simultaneously with any of steps 1102-1114.

Referring now to FIG. 12, a process 1200 showing an alternative cascadedprocess of controlling an economizer is shown, according to someembodiments. Process 1200 is shown to include steps 1202-1218, accordingto some embodiments. In some embodiments, any or all of the steps1202-1218 are performed in a different order than as shown in FIG. 12.In some embodiments, any of steps 1202-1218 are performedsimultaneously.

Process 1200 is shown to include determining an IAQ setpoint error basedon an IAQ and an IAQ setpoint (step 1202), according to someembodiments. In some embodiments, step 1202 of process 1200 is step 1102of process 1100.

Process 1200 includes determining if the IAQ setpoint error is between apositive IAQ setpoint error threshold and a negative IAQ setpoint errorthreshold. In some embodiments, the positive IAQ setpoint errorthreshold and the negative IAQ setpoint error threshold are equal inmagnitude and have opposite signs. In some embodiments, the positive IAQsetpoint error threshold and the negative IAQ setpoint error thresholdare negligible or zero. In some embodiments, the positive IAQ setpointerror has a magnitude greater than or less than a magnitude of thenegative IAQ setpoint error.

If the IAQ setpoint error is less than the positive IAQ setpoint errorthreshold and greater than the negative IAQ setpoint error threshold,the adjusted OAF setpoint is set to the initial OAF setpoint (step1206), according to some embodiments. In some embodiments, step 1206 isstep 1106 of process 1100. In some embodiments, step 1206 is optional,and the initial OAF setpoint is not changed. In some embodiments, theinitial OAF setpoint is determined by an economizer controller.

If the IAQ setpoint error is greater than the positive IAQ setpointerror threshold or less than the negative IAQ setpoint error threshold,the adjusted OAF setpoint is calculated usingOAF_(adjusted)=OAF_(i)+e_(IAQ)β (step 1208), according to someembodiments. In some embodiments, step 1208 is step 1108 of process1100, however, since the IAQ setpoint error may be negative (due to step1204), the e_(IAQ)β may be negative as well (e.g., resulting in theadjusted OAF setpoint being less than the initial OAF setpoint). In thisway if the actual IAQ exceeds the setpoint IAQ, the initial OAF setpointcan be decreased, according to some embodiments. In some embodiments,updating/changing the initial OAF setpoint is optional. In someembodiments, the initial OAF setpoint is determined by an economizercontroller and is not changed/updated.

Process 1200 includes performing PVDC based on the adjusted OAF setpointand the actual OAF (step 1210), according to some embodiments. Process1200 also includes controlling the economizer to achieve the adjustedOAF setpoint (step 1212), according to some embodiments. Process 1200also includes updating the initial OAF setpoint with the adjusted OAFsetpoint (step 1214), according to some embodiments. Process 1200 alsoincludes measuring the actual OAF (step 1216) and measuring the actualIAQ (step 1218), according to some embodiments. In some embodiments,steps 1210-1218 are steps 1110-1118 of process 1100, described ingreater detail with reference to FIG. 11. In some embodiments, step 1216is optional, and the initial OAF setpoint is not changed. In someembodiments, the initial OAF setpoint is determined by an economizercontroller.

Configuration of Exemplary Embodiments

The construction and arrangement of the systems and methods as shown inthe various exemplary embodiments are illustrative only. Although only afew embodiments have been described in detail in this disclosure, manymodifications are possible (e.g., variations in sizes, dimensions,structures, shapes and proportions of the various elements, values ofparameters, mounting arrangements, use of materials, colors,orientations, etc.). For example, the position of elements may bereversed or otherwise varied and the nature or number of discreteelements or positions may be altered or varied. Accordingly, all suchmodifications are intended to be included within the scope of thepresent disclosure. The order or sequence of any process or method stepsmay be varied or re-sequenced according to alternative embodiments.Other substitutions, modifications, changes, and omissions may be madein the design, operating conditions and arrangement of the exemplaryembodiments without departing from the scope of the present disclosure.

The present disclosure contemplates methods, systems and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can include RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Combinationsof the above are also included within the scope of machine-readablemedia. Machine-executable instructions include, for example,instructions and data which cause a general purpose computer, specialpurpose computer, or special purpose processing machines to perform acertain function or group of functions.

Although the figures show a specific order of method steps, the order ofthe steps may differ from what is depicted. Also two or more steps maybe performed concurrently or with partial concurrence. Such variationwill depend on the software and hardware systems chosen and on designerchoice. All such variations are within the scope of the disclosure.Likewise, software implementations could be accomplished with standardprogramming techniques with rule based logic and other logic toaccomplish the various connection steps, processing steps, comparisonsteps and decision steps.

What is claimed is:
 1. A controller for an economizer that providesoutdoor air to a conditioned space, the controller comprising: an errorcalculator configured determine an indoor air quality (IAQ) setpointerror based on an actual IAQ and an IAQ setpoint; an outdoor air flow(OAF) setpoint adjuster configured to determine an adjusted OAF setpointbased on the IAQ setpoint error and a first OAF setpoint; and a controlconfigured to control the economizer and adjust an operation of at leastone of an actuator and a damper of the economizer to achieve theadjusted OAF based on at least one of an actual OAF and the adjusted OAFsetpoint.
 2. The controller of claim 1, wherein the controller isfurther configured to receive information from one or more sensors,wherein the one or more sensors are configured to measure at least oneof the actual IAQ and the actual OAF of the conditioned space and thereceived information comprises a signal associated with at least one ofthe actual IAQ and the actual OAF and the error calculator is configuredto determine the IAQ setpoint error by calculating a difference betweenthe IAQ setpoint and the actual IAQ.
 3. The controller of claim 1,wherein the OAF setpoint adjuster is configured to determine theadjusted OAF setpoint based on a linear relationship between the IAQsetpoint error and an amount to increase or decrease the first OAFsetpoint to achieve the adjusted OAF setpoint.
 4. The controller ofclaim 3, wherein the OAF setpoint adjuster is configured to determine anadjusted OAF setpoint greater than the first OAF setpoint in response tothe IAQ setpoint error being a positive value greater than a positivethreshold value, wherein the IAQ setpoint error being a positive valueindicates the actual IAQ is less than the IAQ setpoint.
 5. Thecontroller of claim 4, wherein the positive threshold value is zero. 6.The controller of claim 1, wherein the controller is further configuredto update the first OAF setpoint with the adjusted OAF setpoint inresponse to the actual OAF being driven to the adjusted OAF setpoint. 7.The controller of claim 1, wherein the at least one sensor is at leastone of an air quality sensor and a flow rate sensor, wherein the airquality sensor is configured to measure the actual IAQ of theconditioned space and wherein the flow rate sensor is configured tomeasure the actual OAF of outdoor air provided to the conditioned space.8. A control system for an economizer configured to facilitate anoutdoor air flow (OAF) of outdoor air into a conditioned space, thecontrol system comprising: a flow rate sensor configured to measure anactual OAF of the outdoor air entering the conditioned space; an airquality sensor configured to measure an actual indoor air quality (IAQ)of the conditioned space; and a controller configured to: receive theactual IAQ of the conditioned space and determine an IAQ setpoint errorbased on the actual IAQ and an IAQ setpoint; determine an adjusted OAFsetpoint by determining an increase amount based on the IAQ setpointerror; perform control based on at least one of the adjusted OAFsetpoint and the actual OAF to generate control signals to cause theeconomizer to facilitate the OAF at the adjusted OAF setpoint; andadjust an operation of at least one of an actuator and a damper of theeconomizer to cause outdoor air to enter the conditioned space at theadjusted OAF setpoint.
 9. The control system of claim 8, wherein thecontroller is configured to determine the adjusted OAF setpoint byadding the increase amount to an initial OAF setpoint.
 10. The controlsystem of claim 9, wherein the controller is configured to determine theadjusted OAF setpoint based on a linear relationship between OAF and theIAQ setpoint error.
 11. The control system of claim 10, wherein thecontroller is configured to determine that the adjusted OAF setpoint isgreater than the initial OAF setpoint in response to the actual IAQbeing less than the IAQ setpoint.
 12. The control system of claim 10,wherein the linear relationship is a piece wise function.
 13. Thecontrol system of claim 8, wherein the determined IAQ setpoint error isa difference between the IAQ setpoint and the actual IAQ.
 14. Thecontrol system of claim 8, wherein the adjusted OAF setpoint ensuresthat the IAQ setpoint is met or exceeded.
 15. The control system ofclaim 8, wherein the controller is configured to determine a signal tonoise ratio of a signal associated with the actual OAF and control theeconomizer based on the determined signal to noise ratio.
 16. A methodfor controlling an economizer, the method comprising: receiving, from afirst sensor, an actual indoor air quality (IAQ) of a conditioned space;determining an IAQ setpoint error based on the actual IAQ and an IAQsetpoint; determining an adjusted outdoor air flow (OAF) setpoint basedon the IAQ setpoint error and a first OAF setpoint, wherein the adjustedoutdoor air flow (OAF) is calculated based upon a sum of the IAQsetpoint and the first OAF setpoint when the IAQ setpoint error is abovea threshold; receiving, from a second sensor, an actual outdoor air flow(OAF) of outdoor air entering the conditioned space; generating controlsignals for the economizer to achieve the adjusted OAF setpoint based onthe actual OAF; controlling the economizer to drive the actual OAF tothe adjusted OAF setpoint; and repeating the steps of receiving theactual OAF from the second sensor, generating control signals, andcontrolling the economizer until the actual OAF meets the OAF setpoint.17. The method of claim 16, wherein determining the adjusted OAFsetpoint further comprises determining a required increase or decreaseof the first OAF setpoint based on a linear relationship between the IAQsetpoint error and a required change of the first OAF setpoint.
 18. Themethod of claim 17, wherein determining the adjusted OAF setpointfurther comprises increasing the first OAF setpoint in response to theIAQ setpoint being greater than the actual IAQ and decreasing the firstOAF setpoint in response to the IAQ setpoint being less than the actualIAQ.
 19. The method of claim 16, further comprising defining theadjusted OAF setpoint as the first OAF setpoint in response to the IAQsetpoint error being negligible.
 20. The method of claim 16, furthercomprising determining a signal to noise ratio of a signal associatedwith the actual OAF and controlling the economizer to drive the actualOAF to the adjusted OAF setpoint based on the signal to noise ratio.